>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  execute-kick
        >>>  select
        >>>  chest-soft
        >>>  chest-strong
        >>>  head-left
        >>>  head-right
        >>>  left-paw
        >>>  right-paw
        >>>  push-strong
        >>>  any-left
        >>>  any-right
        >>>  arm-right
        >>>  arm-left
        >>>  push-soft
        >>>  put-right
        >>>  put-left
        >>>  slap-right
        >>>  slap-left
        >>>  hook-right
        >>>  hook-left
        >>>  forward-kick-fast
        >>>  forward-kick-hard
        >>>  head-left-soft
        >>>  head-right-soft
        >>>  back-kick-left
        >>>  back-kick-right
        >>>  kick-along-arm-left
        >>>  kick-along-arm-right
        >>>  kick-with-back-leg-left
        >>>  kick-with-back-leg-right
        >>>  find-ball-again
        >>>  find-ball-again-left
        >>>  find-ball-again-right
        >>>  finished

Option execute-kick

Executes an appropiate kick action depending a the kick selection table

Parameters of that option:
ParameterMeasureRangeDescription
execute-kick.actionint0..The action id of the kick that was selected

State Machine

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



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

State select

If that state is active,
 >  The basic behavior do-nothing 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_execute-kick_state_select.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 (::execute-kick.action == action.nothing)   // no kick action possible
{
  
transition-to-state(finished);
}
else if (::execute-kick.action == action.chest-soft)   // chest-soft possible
{
  
transition-to-state(chest-soft);
}
else if (::execute-kick.action == action.chest-strong)   // chest-soft possible
{
  
transition-to-state(chest-strong);
}
else if (::execute-kick.action == action.head-left)   // head-left possible
{
  
transition-to-state(head-left);
}
else if (::execute-kick.action == action.head-right)   // head-right possible
{
  
transition-to-state(head-right);
}
else if (::execute-kick.action == action.left-paw)   // left-paw possible
{
  
transition-to-state(left-paw);
}
else if (::execute-kick.action == action.right-paw)   // right-paw possible
{
  
transition-to-state(right-paw);
}
else if (::execute-kick.action == action.push-strong)   // push-strong possible
{
  
transition-to-state(push-strong);
}
else if (::execute-kick.action == action.any-left)   // any-left possible
{
  
transition-to-state(any-left);
}
else if (::execute-kick.action == action.any-right)   // any-right possible
{
  
transition-to-state(any-right);
}
else if (::execute-kick.action == action.arm-right)   // arm-right possible
{
  
transition-to-state(arm-right);
}
else if (::execute-kick.action == action.arm-left)   // arm-left possible
{
  
transition-to-state(arm-left);
}
else if (::execute-kick.action == action.push-soft)   // push-soft possible
{
  
transition-to-state(push-soft);
}
else if (::execute-kick.action == action.put-right)   // put-right possible
{
  
transition-to-state(put-right);
}
else if (::execute-kick.action == action.put-left)   // put-left possible
{
  
transition-to-state(put-left);
}
else if (::execute-kick.action == action.hook-right)   // hook-right possible
{
  
transition-to-state(hook-right);
}
else if (::execute-kick.action == action.hook-left)   // hook-left possible
{
  
transition-to-state(hook-left);
}
else if (::execute-kick.action == action.forward-kick-fast)   // forward-kick-fast possible
{
  
transition-to-state(forward-kick-fast);
}
else if (::execute-kick.action == action.forward-kick-hard)   // forward-kick-hard possible
{
  
transition-to-state(forward-kick-hard);
}
else if (::execute-kick.action == action.slap-right)   // slap-right possible
{
  
transition-to-state(slap-right);
}
else if (::execute-kick.action == action.slap-left)   // slap-left possible
{
  
transition-to-state(slap-left);
}
else if (::execute-kick.action == action.head-right-soft)   // head-right-soft possible
{
  
transition-to-state(head-right-soft);
}
else if (::execute-kick.action == action.head-left-soft)   // head-left-soft possible
{
  
transition-to-state(head-left-soft);
}
else if (::execute-kick.action == action.back-kick-left)   // back-kick-left possible
{
  
transition-to-state(back-kick-left);
}
else if (::execute-kick.action == action.back-kick-right)   // back-kick-right possible
{
  
transition-to-state(back-kick-right);
}
else if (::execute-kick.action == action.kick-along-arm-left)   // kick-along-arm-left possible
{
  
transition-to-state(kick-along-arm-left);
}
else if (::execute-kick.action == action.kick-along-arm-right)   // kick-along-arm-right possible
{
  
transition-to-state(kick-along-arm-right);
}
else if (::execute-kick.action == action.kick-with-back-leg-left)   // back-kick-right possible
{
  
transition-to-state(kick-with-back-leg-left);
}
else if (::execute-kick.action == action.kick-with-back-leg-right)   // back-kick-right possible
{
  
transition-to-state(kick-with-back-leg-right);
}
else
{
  
transition-to-state(select);
}

State chest-soft

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.chest-soft ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_chest-soft.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again);
}
else
{
  
transition-to-state(chest-soft);
}

State chest-strong

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.chest-hard ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_chest-strong.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again);
}
else
{
  
transition-to-state(chest-strong);
}

State head-left

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.head-left ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_head-left.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-left);
}
else
{
  
transition-to-state(head-left);
}

State head-right

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.head-right ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_head-right.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-right);
}
else
{
  
transition-to-state(head-right);
}

State left-paw

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.left-paw ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_left-paw.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-left);
}
else
{
  
transition-to-state(left-paw);
}

State right-paw

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.right-paw ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_right-paw.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-right);
}
else
{
  
transition-to-state(right-paw);
}

State push-strong

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.push-strong ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_push-strong.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again);
}
else
{
  
transition-to-state(push-strong);
}

State any-left

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.any-left ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_any-left.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-left);
}
else
{
  
transition-to-state(any-left);
}

State any-right

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.any-right ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_any-right.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-right);
}
else
{
  
transition-to-state(any-right);
}

State arm-right

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.arm-right ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_arm-right.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-right);
}
else
{
  
transition-to-state(arm-right);
}

State arm-left

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.arm-left ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_arm-left.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-left);
}
else
{
  
transition-to-state(arm-left);
}

State push-soft

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.push-soft ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_push-soft.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again);
}
else
{
  
transition-to-state(push-soft);
}

State put-right

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.put-right ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_put-right.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-right);
}
else
{
  
transition-to-state(put-right);
}

State put-left

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.put-left ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_put-left.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-left);
}
else
{
  
transition-to-state(put-left);
}

State slap-right

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.slap-right ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_slap-right.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-right);
}
else
{
  
transition-to-state(slap-right);
}

State slap-left

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.slap-left ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_slap-left.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-left);
}
else
{
  
transition-to-state(slap-left);
}

State hook-right

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.hook-right ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_hook-right.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-right);
}
else
{
  
transition-to-state(hook-right);
}

State hook-left

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.hook-left ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_hook-left.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-left);
}
else
{
  
transition-to-state(hook-left);
}

State forward-kick-fast

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.forward-kick-fast ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_forward-kick-fast.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again);
}
else
{
  
transition-to-state(forward-kick-fast);
}

State forward-kick-hard

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.forward-kick-hard ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_forward-kick-hard.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again);
}
else
{
  
transition-to-state(forward-kick-hard);
}

State head-left-soft

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.head-left-soft ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_head-left-soft.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-left);
}
else
{
  
transition-to-state(head-left-soft);
}

State head-right-soft

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.head-right-soft ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_head-right-soft.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-right);
}
else
{
  
transition-to-state(head-right-soft);
}

State back-kick-left

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.back-kick-left ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_back-kick-left.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-left);
}
else
{
  
transition-to-state(back-kick-left);
}

State back-kick-right

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.back-kick-right ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_back-kick-right.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-right);
}
else
{
  
transition-to-state(back-kick-right);
}

State kick-along-arm-left

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.kick-along-arm-left ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_kick-along-arm-left.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-left);
}
else
{
  
transition-to-state(kick-along-arm-left);
}

State kick-along-arm-right

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.kick-along-arm-right ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_kick-along-arm-right.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-right);
}
else
{
  
transition-to-state(kick-along-arm-right);
}

State kick-with-back-leg-left

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.kick-with-back-leg-left ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_kick-with-back-leg-left.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-left);
}
else
{
  
transition-to-state(kick-with-back-leg-left);
}

State kick-with-back-leg-right

If that state is active,
 >  The option do-kick is executed. Parameters:
 
    do-kick.special-action-id  =  special-action.kick-with-back-leg-right ;
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_kick-with-back-leg-right.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 (subsequent-option-reached-target-state)   // Kick finished
{
  
transition-to-state(find-ball-again-right);
}
else
{
  
transition-to-state(kick-with-back-leg-right);
}

State find-ball-again

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  50 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  0 ;
 
 >  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_execute-kick_state_find-ball-again.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 (ball.just-seen)   // ball seen again
{
  
transition-to-state(finished);
}
else if (time-of-state-execution < 1000)   // state running less than 1 second
{
  
transition-to-state(find-ball-again);
}
else
{
  
transition-to-state(finished);
}

State find-ball-again-left

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-left
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_find-ball-again-left.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 (ball.just-seen)   // ball seen again
{
  
transition-to-state(finished);
}
else if (time-of-state-execution < 1000)   // state running less than 1 second
{
  
transition-to-state(find-ball-again-left);
}
else
{
  
transition-to-state(finished);
}

State find-ball-again-right

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-right
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-kick_state_find-ball-again-right.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 (ball.just-seen)   // ball seen again
{
  
transition-to-state(finished);
}
else if (time-of-state-execution < 1000)   // state running less than 1 second
{
  
transition-to-state(find-ball-again-right);
}
else
{
  
transition-to-state(finished);
}

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
    strategy.set-time-kick  =  strategy.set-time-kick.save-time
 
The decision tree:
  This browser can't display the SVG file svg/option_execute-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);