digraph g {compound="true";bgcolor="";fontcolor="";fontname="";fontsize="";label="";margin="";nodesep="0.3";rankdir="";ranksep="0.4";ratio="";size="";subgraph cluster_option{bgcolor="";color="";fillcolor="#F4F4F4";fontcolor="#005A9C";fontname="Arial";fontsize="12";label="option kick-vlc";labeljust="";labelloc="";style="filled";subgraph sub_graph_0{rank="same";node[label="go\nto\nball\nfar", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="Mcircle",style="filled",URL="option.kick-vlc.html#state_go-to-ball-far",width="",] {state_go_to_ball_far};}subgraph sub_graph_1{rank="same";node[label="go\nto\nball\nnear", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.kick-vlc.html#state_go-to-ball-near",width="",] {state_go_to_ball_near};node[label="rotate\nto\nangle", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.kick-vlc.html#state_rotate-to-angle",width="",] {state_rotate_to_angle};node[label="relocalize", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.kick-vlc.html#state_relocalize",width="",] {state_relocalize};}subgraph sub_graph_2{rank="same";node[label="focus\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.kick-vlc.html#state_focus-ball",width="",] {state_focus_ball};node[label="get\ncloser\nfor\nkick", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.kick-vlc.html#state_get-closer-for-kick",width="",] {state_get_closer_for_kick};node[label="kick", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.kick-vlc.html#state_kick",width="",] {state_kick};}subgraph sub_graph_3{rank="same";node[label="finished", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="doublecircle",style="filled",URL="option.kick-vlc.html#state_finished",width="",] {state_finished};}edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_go_to_ball_far -> state_go_to_ball_near;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_go_to_ball_far -> state_go_to_ball_far;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_go_to_ball_near -> state_relocalize;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_go_to_ball_near -> state_go_to_ball_far;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_go_to_ball_near -> state_rotate_to_angle;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_go_to_ball_near -> state_go_to_ball_near;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_rotate_to_angle -> state_go_to_ball_far;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_rotate_to_angle -> state_relocalize;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_rotate_to_angle -> state_rotate_to_angle;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_relocalize -> state_relocalize;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_relocalize -> state_focus_ball;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_focus_ball -> state_focus_ball;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_focus_ball -> state_kick;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_focus_ball -> state_get_closer_for_kick;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_focus_ball -> state_go_to_ball_near;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_get_closer_for_kick -> state_go_to_ball_near;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_get_closer_for_kick -> state_relocalize;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_get_closer_for_kick -> state_get_closer_for_kick;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_kick -> state_go_to_ball_near;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_kick -> state_kick;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_finished -> state_finished;}subgraph cluster_option_tree{bgcolor="";color="#FFFFFF";fillcolor="";fontcolor="";fontname="";fontsize="";label="";labeljust="";labelloc="";style="";node[label="do\nspecial\naction", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.do-special-action.html",width="",] {option_do_special_action};subgraph sub_graph_4{rank="sink";node[label="special\naction", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.common-basic-behaviors.html#special-action",width="",] {basic_behavior_special_action};node[label="stand", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.common-basic-behaviors.html#stand",width="",] {basic_behavior_stand};node[label="go\nto\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.simple-basic-behaviors.html#go-to-ball",width="",] {basic_behavior_go_to_ball};node[label="turn\naround\npoint", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.simple-basic-behaviors.html#turn-around-point",width="",] {basic_behavior_turn_around_point};node[label="walk", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.common-basic-behaviors.html#walk",width="",] {basic_behavior_walk};}edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_do_special_action -> basic_behavior_special_action;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_do_special_action -> basic_behavior_stand;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_go_to_ball_far -> basic_behavior_go_to_ball;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_go_to_ball_near -> basic_behavior_go_to_ball;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_rotate_to_angle -> basic_behavior_turn_around_point;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_relocalize -> basic_behavior_stand;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_focus_ball -> basic_behavior_stand;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_get_closer_for_kick -> basic_behavior_walk;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_finished -> basic_behavior_stand;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_kick -> option_do_special_action;}}
                    
