EDU.gatech.cc.is.clay
Class v_StaticWeightedSum_va

java.lang.Object
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  +--EDU.gatech.cc.is.clay.Node
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        +--EDU.gatech.cc.is.clay.NodeVec2
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              +--EDU.gatech.cc.is.clay.v_StaticWeightedSum_va

public class v_StaticWeightedSum_va
extends NodeVec2

Combine an array of embedded schemas using static weights set at configuration time. Configuration is done by setting the values of the embedded[] and weights[] arrays.

This software module is based on the motor schema formulation developed by Ronald C. Arkin described in "Motor Schema Based Mobile Robot Navigation," International Journal of Robotics Research, vol. 8, no 4, pp 92-112.

The source code in this module is based on "first principles" (e.g. published papers) and is not derived from any previously existing software.

For detailed information on how to configure behaviors, see the Clay page.

Copyright (c)1997, 1998 Tucker Balch


Field Summary
static boolean DEBUG
          Turn debug printing on or off.
 NodeVec2[] embedded
          The embedded nodes to multiply by the weights and sum.
static int MAX_COMPONENTS
          Maximum number of components of an v_StaticWeightedSum_va node.
 double[] weights
          The weights to multiply the nodes by.
 
Fields inherited from class EDU.gatech.cc.is.clay.Node
DEBUG, embedded_nodes
 
Constructor Summary
v_StaticWeightedSum_va()
          Instantiate a v_StaticWeightedSum_va node.
 
Method Summary
 Vec2 Value(long timestamp)
          Return a Vec2 representing the weighted sum of the embedded nodes.
 
Methods inherited from class EDU.gatech.cc.is.clay.Node
initTrial
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

DEBUG

public static final boolean DEBUG
Turn debug printing on or off.

MAX_COMPONENTS

public static final int MAX_COMPONENTS
Maximum number of components of an v_StaticWeightedSum_va node.

embedded

public NodeVec2[] embedded
The embedded nodes to multiply by the weights and sum.

weights

public double[] weights
The weights to multiply the nodes by.
Constructor Detail

v_StaticWeightedSum_va

public v_StaticWeightedSum_va()
Instantiate a v_StaticWeightedSum_va node.
Method Detail

Value

public Vec2 Value(long timestamp)
Return a Vec2 representing the weighted sum of the embedded nodes.
Overrides:
Value in class NodeVec2
Parameters:
timestamp - long, only get new information if timestamp > than last call or timestamp == -1.
Returns:
the vector weighted sum.