EDU.gatech.cc.is.clay
Class v_StaticWeightedSum_va
java.lang.Object
|
+--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. |
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 |
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.
v_StaticWeightedSum_va
public v_StaticWeightedSum_va()
- Instantiate a v_StaticWeightedSum_va node.
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.