/* * v_StaticWeightedSum_va.java */package EDU.gatech.cc.is.clay;import java.lang.*;import EDU.gatech.cc.is.util.Vec2;import EDU.gatech.cc.is.util.Units;/** * 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. * <P> * This software module is based on the motor schema formulation developed * by Ronald C. Arkin described in "Motor Schema Based Mobile Robot * Navigation," <I>International Journal of Robotics Research</I>, * vol. 8, no 4, pp 92-112. * <P> * The source code in this module is based on "first principles" * (e.g. published papers) and is not derived from any previously * existing software. * <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 v_StaticWeightedSum_va extends NodeVec2	{	/**	Turn debug printing on or off.	*/	public static final boolean DEBUG = /*true;*/Node.DEBUG;		/**	Maximum number of components of an v_StaticWeightedSum_va node.	*/	public static final int MAX_COMPONENTS = 20;	/**	The embedded nodes to multiply by the weights and sum.	*/	public NodeVec2[]	embedded = new NodeVec2[MAX_COMPONENTS];	/**	The weights to multiply the nodes by.	*/	public double[]		weights  = new double[MAX_COMPONENTS];	/**	Instantiate a v_StaticWeightedSum_va node.	*/	public v_StaticWeightedSum_va()		{		}	Vec2	last_val = new Vec2();	long	lasttime = 0;	/**	Return a Vec2 representing the weighted sum of the embedded	nodes.	@param timestamp long, only get new information if timestamp > than last call                or timestamp == -1.	@return the vector weighted sum.	*/	public Vec2 Value(long timestamp)		{                if (DEBUG) System.out.println("v_StaticWeightedSum_va: Value()");                 if ((timestamp > lasttime)||(timestamp == -1))                        {                        /*--- reset the timestamp ---*/                        if (timestamp > 0) lasttime = timestamp;                         /*--- add in the weighted value of each schema ---*/                        last_val.setr(0);			Vec2 temp;			int i = 0;			while(embedded[i]!=null)				{                		if (DEBUG) System.out.println(i+" weight "+					weights[i]);				temp = embedded[i].Value(timestamp);				temp.setr(temp.r*weights[i]);				last_val.add(temp);				i++;				}			}		return (new Vec2(last_val.x, last_val.y));		}        }