>xabsl 2
Behavior Documentation
>Index
>Agents
>Symbols
>Basic Behaviors
>Options
>> do-special-action
>>> do-special-action
>>> special-action-in-progress
>>> finished

Option do-special-action

Perform a special action without notifying anybody

Parameters of that option:
Parameter Measure Range Description
do-special-action.special-action-id integer 0.. Special action ID to perform
do-special-action.target-action-id integer 0.. Target special action ID. If not zero, option reaches target state when this action is executed.

State Machine

State do-special-action

If that state is active,

The basic behavior special-action is executed. Parameters:

special-action-id

::do-special-action.special-action-id ;

The decision tree:

Pseudo code of the decision tree:

if (

(

executed-motion-request.motion-type == special-action

)

(

executed-motion-request.special-action-type == ::do-special-action.special-action-id

)

// special action started

{

transition-to-state(special-action-in-progress);

}

else

{

transition-to-state(do-special-action);

}

State special-action-in-progress

If that state is active,

The basic behavior stand is executed.

The decision tree:

Pseudo code of the decision tree:

if (

executed-motion-request.motion-type == special-action

)

// special action finished

{

transition-to-state(finished);

}

else

{

transition-to-state(special-action-in-progress);

}

State finished

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(finished);