7.3 Making an iteration using HARK-Designer

Problem

I wish to construct a network that performs iterations like “for loop.”

Solution

Use the Iterator subnetwork and Iterator node. For example, if you want a localization result generated by ConstantLocalization to DisplayLocalization 500 times, build a network similar to that in Fig. 7.1. Note that the Iterator node is at New Node $\rightarrow $ Flow $\rightarrow $ Iterator .

$\includegraphics{fig/recipes/FlowDesigner_003-2}$ $\includegraphics{fig/recipes/FlowDesigner_003}$

Figure 7.1: Sample network: The left panels is the MAIN subnetwork, and the right panel is the Iterator subnetwork

If you see the localization result for 500 frames, you have successfully built this sample network.

Discussion

Iterate node decrements the counter, whose initial value is given by the parameter MAX_ITER, for each iteration. If the counter is $\geq 0$ , it outputs true; otherwise, it outputs false. By setting this output as the CONDITION terminal, you can realize the “for loop.”