# Option walk-omnidirectional Parameters of that option:
Parameter | Measure | Range | Description
walk-omnidirectional.x |  |  |
walk-omnidirectional.y |  |  |
walk-omnidirectional.angle |  |  | absolute angle
## State Machine ## State go-near
If that state is active,
> | The basic behavior walk is executed. Parameters:
| walk.speed-x | = | (distance-to( ::walk-omnidirectional.x , ::walk-omnidirectional.y ) * cos( angle-to( ::walk-omnidirectional.x , ::walk-omnidirectional.y ) )) ;
| walk.speed-y | = | (distance-to( ::walk-omnidirectional.x , ::walk-omnidirectional.y ) * sin( angle-to( ::walk-omnidirectional.x , ::walk-omnidirectional.y ) )) ;
| walk.rotation-speed | = | ((200 / ( distance-to( ::walk-omnidirectional.x , ::walk-omnidirectional.y ) != 0 ? distance-to( ::walk-omnidirectional.x , ::walk-omnidirectional.y ) : 0 )) * (::walk-omnidirectional.angle - robot-pose.angle)) ;
The decision tree:
Pseudo code of the decision tree:
if ( |
( | distance-to( ::walk-omnidirectional.x , ::walk-omnidirectional.y ) < 100 | )
&& |
( | abs( (robot-pose.angle - ::walk-omnidirectional.angle) ) < 10 | )
| ) | //
{
transition-to-state(done);
}
else
{
transition-to-state(go-near);
}
## State done
This state is a target state.
If that state is active,
> | The basic behavior stand is executed.
The decision tree:
Pseudo code of the decision tree:
transition-to-state(done);