/* * va_Add_vav.java */package EDU.gatech.cc.is.clay;import java.lang.*;import EDU.gatech.cc.is.util.Vec2;import EDU.gatech.cc.is.util.Units;/** * Add one vector to an array of others.  Useful for converting * ego to global or global to ego positions for an array of sensor readings.  * <P> * For detailed information on how to configure behaviors, see the * <A HREF="../clay/docs/index.html">Clay page</A>. * <P> * <A HREF="../COPYRIGHT.html">Copyright</A> * (c)1997, 1998 Tucker Balch * * @author Tucker Balch * @version $Revision: 1.1 $ */public class va_Add_vav extends NodeVec2Array	{	/**	Turn debug printing on or off.	*/	public static final boolean DEBUG = Node.DEBUG;	private NodeVec2Array	embedded1;	private NodeVec2	embedded2;	/**	Instantiate a va_Add_vav node.	@param im1 NodeVec2Array, the node that generates an			Array of vectors to be added.	@param im2 NodeVec2, the node that generates a vector			to be added to the others.	*/	public va_Add_vav(NodeVec2Array im1, NodeVec2 im2)		{		if (DEBUG) System.out.println("va_Add_vav: instantiated.");		embedded1 = im1;		embedded2 = im2;		}	Vec2[]	last_val = new Vec2[0];	long	lasttime = -1;	/**	Return a Vec2[] that is the sum of the original values and the	embedded node.	@param timestamp long, only get new information if timestamp > than last call                or timestamp == -1.	@return the array of Vec2s.	*/	public Vec2[] Value(long timestamp)		{                if (DEBUG) System.out.println("va_Add_vav: Value()");                 if ((timestamp > lasttime)||(timestamp == -1))                        {                        /*--- reset the timestamp ---*/                        if (timestamp > 0) lasttime = timestamp;			/*--- get the embedded values ---*/                        last_val = embedded1.Value(timestamp);			Vec2 tmp = embedded2.Value(timestamp);			/*--- add the values ---*/			for (int i=0; i<last_val.length; i++)				last_val[i].add(tmp);                        }                Vec2[] retval = new Vec2[last_val.length];                for(int i = 0; i<last_val.length; i++)                        retval[i] = new Vec2(last_val[i].x,                                last_val[i].y);                return(retval);		}        }