EDU.gatech.cc.is.clay
Class v_Avoid_v
java.lang.Object
|
+--EDU.gatech.cc.is.clay.Node
|
+--EDU.gatech.cc.is.clay.NodeVec2
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+--EDU.gatech.cc.is.clay.v_Avoid_v
- public class v_Avoid_v
- extends NodeVec2
This node (motor schema) generates a vector away from a single hazard.
Magnitude varies from 0 to 1. Based on Arkin's formulation.
Arkin's original formulation is 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
|
Constructor Summary |
v_Avoid_v(double soe,
double s,
NodeVec2 im1)
Instantiate a v_Avoid_v schema. |
Method Summary |
Vec2 |
Value(long timestamp)
Return a Vec2 representing the direction to go away from
the detected hazards. |
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 |
DEBUG
public static final boolean DEBUG
v_Avoid_v
public v_Avoid_v(double soe,
double s,
NodeVec2 im1)
- Instantiate a v_Avoid_v 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
- NodeVec2, the embedded node that generates an item
Value
public Vec2 Value(long timestamp)
- Return a Vec2 representing the direction to go away from
the detected hazards.
- Overrides:
- Value in class NodeVec2
- Parameters:
timestamp
- long, only get new information
if timestamp > than last call or timestamp == -1.- Returns:
- the movement vector.