b_equal_i.java

利用JAVA编写的群体机器人局部通讯完成一定得队形控制

/*
 * b_Equal_i.java
 */

package EDU.gatech.cc.is.clay;

import java.lang.*;

/**
 * Return true if the value of embedded node equals a set integer value.
 * <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_Equal_i extends NodeBoolean
	{
	/** 
	Turn debug printing on or off.
	*/
	public static final boolean DEBUG = Node.DEBUG;
	private NodeInt	embedded1;
	private int	target;

	/**
	Instantiate a b_Equal_i schema.
	@param t   int, the target value.
	@param im1 NodeInt, the embedded node that generates an int
			to be detected if equal to target.
	*/
	public b_Equal_i(int t, NodeInt im1)
		{
		if (DEBUG) System.out.println("b_Equal_i: instantiated.");
		target = t;
		embedded1 = im1;
		}

	boolean	last_val = false;
	long	lasttime = 0;
	/**
	Return a boolean indicating if the embedded schema
	output is equal to a desired value. 
	@param timestamp long, only get new information if timestamp > than last call
                or timestamp == -1.
	@return true if equal, false if not.
	*/
	public boolean Value(long timestamp)
		{
                if (DEBUG) System.out.println("b_Equal_i: Value()");
 
                if ((timestamp > lasttime)||(timestamp == -1))
                        {
                        /*--- reset the timestamp ---*/
                        if (timestamp > 0) lasttime = timestamp;
 
                        /*--- compute the output ---*/
                        int tmp = embedded1.Value(timestamp);
			if (tmp == target)
				last_val = true;
			else
				last_val = false;
                        }

		return (last_val);
		}
        }