EDU.gatech.cc.is.clay
Class v_GeoField_vav

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_GeoField_vav

public class v_GeoField_vav

extends NodeVec2

Generates a linear attractive field from detected objects, along a given axis. Several of these fields can be combined to generate robot formations.

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_GeoField_vav(double soe, double s, NodeVec2Array im1, NodeVec2 im2)
Instantiate a v_GeoField_vav 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_GeoField_vav

public v_GeoField_vav(double soe,
                      double s,
                      NodeVec2Array im1,
                      NodeVec2 im2)

Instantiate a v_GeoField_vav schema.

Parameters:

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

s - double, the safety zone, inside of which a maximum attraction is generated.

im1 - NodeVec2Array, the embedded perceptual schema that generates a list of items to avoid.

im2 - NodeVec2, the embedded perceptual schema that generates to the axis of attraction.

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.