EDU.gatech.cc.is.clay
Class v_Swirl_vv

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_Swirl_vv

public class v_Swirl_vv

extends NodeVec2

Generate a vector that swirls to one side or the other of a detected hazard. One embedded node provides a hazard to avoid, the other points in the reference direction (typically a goal location).

The "swirl" behavior was originally developed by Andy Henshaw and Tom Collins at the Georgia Tech Research Institute. It is also similar to Marc Slack's NATs.

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.

Fields inherited from class EDU.gatech.cc.is.clay.Node

DEBUG, embedded_nodes

Constructor Summary

v_Swirl_vv(double soe, double s, NodeVec2 im1, NodeVec2 im2)
Instantiate a v_Swirl_vv schema.

Method Summary

Vec2	Value(long timestamp) Return a Vec2 representing the direction to go.

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.

Constructor Detail

v_Swirl_vv

public v_Swirl_vv(double soe,
                  double s,
                  NodeVec2 im1,
                  NodeVec2 im2)

Instantiate a v_Swirl_vv schema.

Parameters:

soe - double, the sphere of influence beyond which the hazards are not considered.

s - double, the safety zone, inside of which a maximum repulsion from the object is generated.

im1 - double, the embedded perceptual schema that generates an item to avoid.

im2 - double, the embedded perceptual schema that generates a pointer to the goal (must be egocentric).

Method Detail

Value

public Vec2 Value(long timestamp)

Return a Vec2 representing the direction to go.

Overrides:

Value in class NodeVec2

Parameters:

timestamp - long, only get new information if timestamp > than last call or timestamp == -1.

Returns:

the movement vector.