digraph g {compound="true";bgcolor="";fontcolor="";fontname="";fontsize="";label="";margin="";nodesep="";rankdir="";ranksep="0.4";ratio="";size="";subgraph cluster_option{bgcolor="";color="";fillcolor="#F4F4F4";fontcolor="#005A9C";fontname="Arial";fontsize="12";label="option playing-goalie";labeljust="";labelloc="";style="filled";subgraph cluster_states{bgcolor="";color="#F4F4F4";fillcolor="#F4F4F4";fontcolor="";fontname="";fontsize="";label="";labeljust="";labelloc="";style="filled";node[label="head\nback\nfrom\nborder", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_head-back-from-border",width="",] {state_head_back_from_border};node[label="head\nback", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_head-back",width="",] {state_head_back};node[label="block\nleft", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_block-left",width="",] {state_block_left};node[label="block\nright", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_block-right",width="",] {state_block_right};node[label="block\nmiddle", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_block-middle",width="",] {state_block_middle};node[label="block\nfar\nleft", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_block-far-left",width="",] {state_block_far_left};node[label="block\nfar\nright", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_block-far-right",width="",] {state_block_far_right};node[label="position", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="Mcircle",style="dashed",URL="",width="",] {state_position};node[label="block\nfar\nleft", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_block-far-left",width="",] {state_block_far_left};node[label="block\nfar\nright", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_block-far-right",width="",] {state_block_far_right};node[label="clear\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_clear-ball",width="",] {state_clear_ball};node[label="clear\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_clear-ball",width="",] {state_clear_ball};node[label="clear\nball\ncourageous", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_clear-ball-courageous",width="",] {state_clear_ball_courageous};node[label="clear\nball\ncourageous", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_clear-ball-courageous",width="",] {state_clear_ball_courageous};node[label="return", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.playing-goalie.html#state_return",width="",] {state_return};node[label="position", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="Mcircle",style="dashed",URL="",width="",] {state_position};}subgraph cluster_decision_tree{bgcolor="";color="";fillcolor="#FFFFFF";fontcolor="#005A9C";fontname="Arial";fontsize="12";label="state position";labeljust="";labelloc="";style="filled";node[label="start", color="",fillcolor="",fixedsize="",fontcolor="",fontname="",fontsize="",height="",shape="point",style="",URL="",width="",] {start};node[shape="record",label="<start_0> if | <start_1> else if | <start_2> else if | <start_3> else if | <start_4> else if | <start_5> else if | <start_6> else if | <start_7> else if | <start_8> else if | <start_9> else if | <start_10> else",color="#FFFFFF",fillcolor="",fontcolor="",fontname="Arial Bold",fontsize="9",height="0.15",style="",URL="",width="",]{struct3};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start -> struct3:start_0;node[label="ball was\nnot seen\nfor 3\nseconds\nbut in\nlast 3.5\nseconds\nand goalie\nis not\nin front\nof goal", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_0",width="",] {start_0_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct3:start_0 -> start_0_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_0_ -> state_head_back_from_border;node[label="ball was\nnot seen\nfor 3\nseconds\nbut in\nlast 3.5\nseconds", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_1",width="",] {start_1_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct3:start_1 -> start_1_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_1_ -> state_head_back;node[label="block", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_2",width="",] {start_2_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct3:start_2 -> start_2_;node[shape="record",label="<start_2__0> if | <start_2__2> else if | <start_2__3> else if | <start_2__4> else if | <start_2__5> else if | <start_2__6> else",color="#FFFFFF",fillcolor="",fontcolor="",fontname="Arial Bold",fontsize="9",height="0.15",style="",URL="",width="",]{struct4};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_2_ -> struct4:start_2__0;node[label="ball rolls\nleft", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_2_0",width="",] {start_2__0_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct4:start_2__0 -> start_2__0_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_2__0_ -> state_block_left;node[label="ball rolls\nright", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_2_1",width="",] {start_2__2_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct4:start_2__2 -> start_2__2_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_2__2_ -> state_block_right;node[label="ball rolls\nmiddle", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_2_2",width="",] {start_2__3_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct4:start_2__3 -> start_2__3_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_2__3_ -> state_block_middle;node[label="ball rolls\nfar by\nleft", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_2_3",width="",] {start_2__4_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct4:start_2__4 -> start_2__4_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_2__4_ -> state_block_far_left;node[label="ball rolls\nfar by\nright", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_2_4",width="",] {start_2__5_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct4:start_2__5 -> start_2__5_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_2__5_ -> state_block_far_right;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct4:start_2__6 -> state_position;node[label="block\nfar left", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_3",width="",] {start_3_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct3:start_3 -> start_3_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_3_ -> state_block_far_left;node[label="block\nfar right", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_4",width="",] {start_4_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct3:start_4 -> start_4_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_4_ -> state_block_far_right;node[label="ball near\nborder\nand inside\nthe penalty\narea", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_5",width="",] {start_5_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct3:start_5 -> start_5_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_5_ -> state_clear_ball;node[label="ball inside\nthe penalty\narea", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_6",width="",] {start_6_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct3:start_6 -> start_6_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_6_ -> state_clear_ball;node[label="ball near\nor inside\nthe penalty\narea", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_7",width="",] {start_7_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct3:start_7 -> start_7_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_7_ -> state_clear_ball_courageous;node[label="ball near\nborder\nand inside\nor near\nthe penalty\narea", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_8",width="",] {start_8_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct3:start_8 -> start_8_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_8_ -> state_clear_ball_courageous;node[label="goalie\nfar outside\nthe own\npenalty\narea", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html#state_position_pseudo-code_9",width="",] {start_9_};edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="none",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct3:start_9 -> start_9_;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] start_9_ -> state_return;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="solid",taillabel="",tailport="",URL="",lhead="",ltail=""] struct3:start_10 -> state_position;}}}
                    
