>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  do-kick
        >>>  do-kick
        >>>  kick-in-progress
        >>>  finished

Option do-kick

Perform a special action and notify team mates that kick is executed

Parameters of that option:
ParameterMeasureRangeDescription
do-kick.special-action-idinteger0..Special action ID of kick to perform
do-kick.target-action-idinteger0..Target special action ID. If not zero, option reaches target state when this action is executed.

State Machine

This browser can't display the SVG file svg/option_do-kick.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html

State do-kick

If that state is active,
 >  The basic behavior special-action is executed. Parameters:
 
    special-action-id  =  ::do-kick.special-action-id ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
    team-message  =  team-message.performing-a-kick
 
The decision tree:
  This browser can't display the SVG file svg/option_do-kick_state_do-kick.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (
(
(::do-kick.target-action-id == 0)
&& 
(executed-motion-request.motion-type == special-action)
&& 
(executed-motion-request.special-action-type == ::do-kick.special-action-id)
)
|| 
(
(::do-kick.target-action-id != 0)
&& 
(executed-motion-request.motion-type == special-action)
&& 
(executed-motion-request.special-action-type == ::do-kick.target-action-id)
)
)   // kick started
{
  
transition-to-state(kick-in-progress);
}
else
{
  
transition-to-state(do-kick);
}

State kick-in-progress

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
    team-message  =  team-message.performing-a-kick
 
The decision tree:
  This browser can't display the SVG file svg/option_do-kick_state_kick-in-progress.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (
!(executed-motion-request.motion-type == special-action)
)   // kick finished
{
  
transition-to-state(finished);
}
else
{
  
transition-to-state(kick-in-progress);
}

State finished

This state is a target state.
If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_do-kick_state_finished.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
transition-to-state(finished);