>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  go-to-kickoff-position
        >>>  localize
        >>>  turn
        >>>  runback
        >>>  go
        >>>  collision
        >>>  collision-left-move-right
        >>>  collision-right-move-left
        >>>  position-exactly

Option go-to-kickoff-position

Lets the robot walk to a specified kickoff position

Parameters of that option:
ParameterMeasureRangeDescription
go-to-kickoff-position.xmm-2500..2500The destination x position on the field.
go-to-kickoff-position.ymm-1500..1500The destination y position on the field.
go-to-kickoff-position.anglemm-2500..2500The destination angle on the field.

State Machine

This browser can't display the SVG file svg/option_go-to-kickoff-position.svg.



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

State localize

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.directed-scan-for-obstacles
 
The decision tree:
  This browser can't display the SVG file svg/option_go-to-kickoff-position_state_localize.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 (time-of-state-execution < 3000)   // state running less than 3 seconds
{
  
transition-to-state(localize);
}
else if (time-of-state-execution > 8000)   // waited too long
{
  
transition-to-state(turn);
}
else if (robot-pose.validity < 0.4)   // not localized
{
  
transition-to-state(localize);
}
else
{
  
transition-to-state(go);
}

State turn

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  0 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  90 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-straight-ahead
 
The decision tree:
  This browser can't display the SVG file svg/option_go-to-kickoff-position_state_turn.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 (time-of-state-execution > 2000)   // the robot turned for 180 degrees
{
  
transition-to-state(localize);
}
else
{
  
transition-to-state(turn);
}

State runback

If that state is active,
 >  The option get-to-position-and-avoid-obstacles is executed. Parameters:
 
    get-to-position-and-avoid-obstacles.x  =  ::go-to-kickoff-position.x ;
    get-to-position-and-avoid-obstacles.y  =  ::go-to-kickoff-position.y ;
    get-to-position-and-avoid-obstacles.destination-angle  =  ::go-to-kickoff-position.angle ;
    get-to-position-and-avoid-obstacles.max-speed  =  600 ;
    get-to-position-and-avoid-obstacles.no-obstacle-avoidance-distance  =  600 ;
    get-to-position-and-avoid-obstacles.avoid-penalty-areas  =  0 ;
    get-to-position-and-avoid-obstacles.avoidance-level  =  2 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.directed-scan-for-obstacles
 
The decision tree:
  This browser can't display the SVG file svg/option_go-to-kickoff-position_state_runback.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 (distance-to( ::go-to-kickoff-position.x , ::go-to-kickoff-position.y ) < 500)   //
{
  
transition-to-state(go);
}
else if (robot-pose.validity < 0.2)   //
{
  
transition-to-state(localize);
}
else if (time-of-state-execution < 2500)   // state running less than 2 seconds
{
  
transition-to-state(runback);
}
else if (
(obstacles.collision-aggregate)
&& 
(distance-to( ::go-to-kickoff-position.x , ::go-to-kickoff-position.y ) > 500)
)   // collosion?
{
  
transition-to-state(collision);
}
else
{
  
transition-to-state(runback);
}

State go

If that state is active,
 >  The option get-to-position-and-avoid-obstacles is executed. Parameters:
 
    get-to-position-and-avoid-obstacles.x  =  ::go-to-kickoff-position.x ;
    get-to-position-and-avoid-obstacles.y  =  ::go-to-kickoff-position.y ;
    get-to-position-and-avoid-obstacles.destination-angle  =  ::go-to-kickoff-position.angle ;
    get-to-position-and-avoid-obstacles.max-speed  =  ( distance-to( ::go-to-kickoff-position.x , ::go-to-kickoff-position.y ) < 300 ? 100 : 300 ) ;
    get-to-position-and-avoid-obstacles.no-obstacle-avoidance-distance  =  500 ;
    get-to-position-and-avoid-obstacles.avoid-penalty-areas  =  0 ;
    get-to-position-and-avoid-obstacles.avoidance-level  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.directed-scan-for-obstacles
 
The decision tree:
  This browser can't display the SVG file svg/option_go-to-kickoff-position_state_go.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 (distance-to( ::go-to-kickoff-position.x , ::go-to-kickoff-position.y ) > 1000)   //
{
  
transition-to-state(runback);
}
else if (robot-pose.validity < 0.2)   //
{
  
transition-to-state(localize);
}
else if (
(kickoff.role == kickoff.role.kickoff-striker)
&& 
(distance-to( ::go-to-kickoff-position.x , ::go-to-kickoff-position.y ) < 350)
)   // striker near center of field
{
  
transition-to-state(position-exactly);
}
else if (time-of-state-execution < 2500)   // state running less than 2 seconds
{
  
transition-to-state(go);
}
else if (
(obstacles.collision-aggregate)
&& 
(distance-to( ::go-to-kickoff-position.x , ::go-to-kickoff-position.y ) > 500)
)   // collosion?
{
  
transition-to-state(collision);
}
else
{
  
transition-to-state(go);
}

State collision

If that state is active,
 >  The basic behavior do-nothing is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.directed-scan-for-obstacles
 
The decision tree:
  This browser can't display the SVG file svg/option_go-to-kickoff-position_state_collision.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 (
(obstacles.consecutive-collision-time-front-left > 1000)
|| 
(obstacles.consecutive-collision-time-hind-left > 1000)
)   //
{
  
transition-to-state(collision-left-move-right);
}
else if (
(obstacles.consecutive-collision-time-front-right > 1000)
|| 
(obstacles.consecutive-collision-time-hind-right > 1000)
)   //
{
  
transition-to-state(collision-right-move-left);
}
else
{
  
transition-to-state(go);
}

State collision-left-move-right

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  0 ;
    walk.speed-y  =  -250 ;
    walk.rotation-speed  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-left
    sound-request  =  sound-request.growl2
 
The decision tree:
  This browser can't display the SVG file svg/option_go-to-kickoff-position_state_collision-left-move-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 (time-of-state-execution < 250)   //
{
  
transition-to-state(collision-left-move-right);
}
else if (time-of-state-execution > 750)   //
{
  
transition-to-state(go);
}
else if (
(obstacles.consecutive-collision-time-front-left > 500)
|| 
(obstacles.consecutive-collision-time-hind-left > 500)
)   //
{
  
transition-to-state(collision-left-move-right);
}
else
{
  
transition-to-state(go);
}

State collision-right-move-left

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  0 ;
    walk.speed-y  =  250 ;
    walk.rotation-speed  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-right
    sound-request  =  sound-request.growl2
 
The decision tree:
  This browser can't display the SVG file svg/option_go-to-kickoff-position_state_collision-right-move-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 (time-of-state-execution < 250)   //
{
  
transition-to-state(collision-right-move-left);
}
else if (time-of-state-execution > 750)   //
{
  
transition-to-state(go);
}
else if (
(obstacles.consecutive-collision-time-front-right > 500)
|| 
(obstacles.consecutive-collision-time-hind-right > 500)
)   //
{
  
transition-to-state(collision-right-move-left);
}
else
{
  
transition-to-state(go);
}

State position-exactly

If that state is active,
 >  The basic behavior go-to-point is executed. Parameters:
 
    go-to-point.x  =  ::go-to-kickoff-position.x ;
    go-to-point.y  =  ::go-to-kickoff-position.y ;
    go-to-point.destination-angle  =  ::go-to-kickoff-position.angle ;
    go-to-point.distance-remain  =  10 ;
    go-to-point.angle-remain  =  7 ;
    go-to-point.max-speed  =  150 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-landmarks
 
The decision tree:
  This browser can't display the SVG file svg/option_go-to-kickoff-position_state_position-exactly.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 (
(
!(kickoff.role == kickoff.role.kickoff-striker)
)
|| 
(distance-to( ::go-to-kickoff-position.x , ::go-to-kickoff-position.y ) > 350)
)   // striker near center of field
{
  
transition-to-state(go);
}
else
{
  
transition-to-state(position-exactly);
}