b_shorter_vv.java

一个多机器人的仿真平台

package Domains.SoccerBots.teams;

/*
 * b_Shorter_vv.java
 */

import java.lang.*;
import EDU.gatech.cc.is.clay.*;
import EDU.gatech.cc.is.abstractrobot.*;
import EDU.gatech.cc.is.util.Vec2;
import EDU.gatech.cc.is.util.Units;

/**
 * Return true if the value of 
 * the first of the the embedded nodes is smaller than the second.
 * <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 b_Shorter_vv extends NodeBoolean
        {
        /** 
        Turn debug printing on or off.
        */
        public static final boolean DEBUG = Node.DEBUG;
        private NodeVec2        embedded1;
        private NodeVec2        embedded2;
        private double          range;

        /**
        Instantiate a b_Shorter_vv schema.
        @param r   double, how close they must be.
        @param im1 NodeVec2, the embedded node that generates a vector
                        to be detected.
        @param im2 NodeVec2, the embedded node that generates a vector
                        to be detected.
        */
        public b_Shorter_vv(NodeVec2 im1, NodeVec2 im2)
                {
                if (DEBUG) System.out.println("b_Close_vv: instantiated.");
                embedded1 = im1;
                embedded2 = im2;
                }

        boolean last_val = false;
        long    lasttime = 0;
        /**
        Return a boolean indicating if the first of the two schemas is
        shorter than the other.
        @param timestamp long, only get new information if timestamp > than last call
                or timestamp == -1.
        @return true if non-zero, false if zero.
        */
        public boolean Value(long timestamp)
                {
                if (DEBUG) System.out.println("b_Shorter_vv: Value()");
 
                if ((timestamp > lasttime)||(timestamp == -1))
                        {
                        /*--- reset the timestamp ---*/
                        if (timestamp > 0) lasttime = timestamp;
 
                        /*--- compute the output ---*/
                        Vec2 tmp1 = embedded1.Value(timestamp);
                        Vec2 tmp2 = embedded2.Value(timestamp);
                        //tmp1.sub(tmp2);
                        if (Math.abs(tmp1.r) < Math.abs(tmp2.r))
                                last_val = true;
                        else
                                last_val = false;
                        }

                return (last_val);
                }
        }