Class MorphAgentLcl

java.lang.Object
  MorphAgentLcl

All Implemented Interfaces:

IAgent

public class MorphAgentLcl
extends java.lang.Object
implements IAgent

Implementation of "Move in local frame" formation morphing algorithm rewritten (nearly) from scratch to represent state of the algorithm circa February 2007.

Since:

1.1

Constructor Summary

MorphAgentLcl()

MorphAgentLcl(double lfRobotVelocity)

MorphAgentLcl(MorphAgentLcl src)

Method Summary

boolean	checkStateValidity(StateBundle state) checks that a particular discrete state is valid for this agent
void	getMsgs(ILogicVarBundle discreteState, IDiscreteDynamicsCallback dynCallback, double[] arrLfStateCont, double lfCurrTime, int nIdxStateOffset, java.util.Iterator<CommLink> channelsToSendOn) Given the state of an agent, and the channels it can send messages on, push the next set of messages onto the appropriate channels.
IAgent	makeCopy() in case the agent has some internal state, this allows syncrhonized wrapper calls to cache a snapshot of the agent at some rational point in time.
void	setMotionParams(double lfVel, double lfTCom, double lfRad)
void	setShapeDesc(IMorphSpec shapeDesc) Override the default shape description
StateBundle	updateState(ILogicVarBundle statePrev, double[] arrLfStateCont, double lfCurrTime, int nIdxStateOffset, IEnvironment env, java.util.Iterator<CommLink> channelsReceiveFrom) Given the previous state of an agent, and the channels to recieve messages from, recieve messages (destructively) and return new state (non-destructively).

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

MorphAgentLcl

public MorphAgentLcl()

MorphAgentLcl

public MorphAgentLcl(double lfRobotVelocity)

MorphAgentLcl

public MorphAgentLcl(MorphAgentLcl src)

Method Detail

setShapeDesc

public void setShapeDesc(IMorphSpec shapeDesc)

Override the default shape description

setMotionParams

public void setMotionParams(double lfVel,
                            double lfTCom,
                            double lfRad)

checkStateValidity

public boolean checkStateValidity(StateBundle state)

checks that a particular discrete state is valid for this agent

Specified by:

checkStateValidity in interface IAgent

getMsgs

public void getMsgs(ILogicVarBundle discreteState,
                    IDiscreteDynamicsCallback dynCallback,
                    double[] arrLfStateCont,
                    double lfCurrTime,
                    int nIdxStateOffset,
                    java.util.Iterator<CommLink> channelsToSendOn)

Given the state of an agent, and the channels it can send messages on, push the next set of messages onto the appropriate channels. Channels are assumed to be modified by this operation. One weakness of this signature is that it requires programmer discipline not to look at the continuous state of agents other then your neighbors.

Specified by:

getMsgs in interface IAgent

Parameters:

discreteState - discrete component of agent state

arrLfStateCont - global vector of continuous state

nIdxStateOffset - offset into global state vector corresonding to this agent.

channelsToSendOn - Iterator containing objects of type CommLink corresponding to channels to send messages on (neighbor indices can be ascertained from channels).

See Also:

for type handled by iterator

updateState

public StateBundle updateState(ILogicVarBundle statePrev,
                               double[] arrLfStateCont,
                               double lfCurrTime,
                               int nIdxStateOffset,
                               IEnvironment env,
                               java.util.Iterator<CommLink> channelsReceiveFrom)

Given the previous state of an agent, and the channels to recieve messages from, recieve messages (destructively) and return new state (non-destructively).

Specified by:

updateState in interface IAgent

Parameters:

statePrev - previous state (do not modify)

arrLfStateCont - vector of all continuous states (do not modify)

nIdxStateOffset - offset into arrLfStateCont corresponding to start of this agents continuous variables

channelsRecieveFrom - iterator storing CommLink classes corresponding incoming channels

Returns:

new state bundle containing discrete state of agent and new control function

See Also:

for type handled by iterator

makeCopy

public IAgent makeCopy()

in case the agent has some internal state, this allows syncrhonized wrapper calls to cache a snapshot of the agent at some rational point in time. If the agent has no internal state, this function can just return "this".

Specified by:

makeCopy in interface IAgent