>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  goto-center-circle
        >>>  goto-center-circle
        >>>  init-green-locator
        >>>  locate-max-green
        >>>  init-rotate-to-center-circle
        >>>  rotate-to-center-circle
        >>>  approach-center-circle
        >>>  center-circle-found
        >>>  align-to-center-circle
        >>>  finished

Option goto-center-circle

Selects gamestate according to buttons.

State Machine

This browser can't display the SVG file svg/option_goto-center-circle.svg.



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

State goto-center-circle

If that state is active,
 >  The basic behavior do-nothing is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_goto-center-circle_state_goto-center-circle.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(init-green-locator);

State init-green-locator

If that state is active,
 >  The basic behavior locate-max-green is executed. Parameters:
 
    locate-max-green.param  =  0 ;
 
 >  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_goto-center-circle_state_init-green-locator.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 < 100)   //
{
  
transition-to-state(init-green-locator);
}
else
{
  
transition-to-state(locate-max-green);
}

State locate-max-green

If that state is active,
 >  The basic behavior locate-max-green is executed. Parameters:
 
    locate-max-green.param  =  1 ;
 
 >  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_goto-center-circle_state_locate-max-green.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 (challenge-slam.center-circle-visible)   //
{
  
transition-to-state(center-circle-found);
}
else
{
  
if (challenge-slam.green-location-finished)   //
{
  
transition-to-state(init-rotate-to-center-circle);
}
else
{
  
transition-to-state(locate-max-green);
}
}

State init-rotate-to-center-circle

If that state is active,
 >  The basic behavior turn is executed. Parameters:
 
    turn.angle  =  challenge-slam.angle-to-max-green ;
    turn.param  =  0 ;
 
 >  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_goto-center-circle_state_init-rotate-to-center-circle.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 < 100)   //
{
  
transition-to-state(init-rotate-to-center-circle);
}
else
{
  
transition-to-state(rotate-to-center-circle);
}

State rotate-to-center-circle

If that state is active,
 >  The basic behavior turn is executed. Parameters:
 
    turn.angle  =  challenge-slam.angle-to-max-green ;
    turn.param  =  1 ;
 
 >  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_goto-center-circle_state_rotate-to-center-circle.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 (challenge-slam.center-circle-visible)   //
{
  
transition-to-state(center-circle-found);
}
else
{
  
if (challenge-slam.turn-finished)   //
{
  
transition-to-state(approach-center-circle);
}
else
{
  
transition-to-state(rotate-to-center-circle);
}
}

State approach-center-circle

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  0 ;
    walk.speed-x  =  400 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  0 ;
 
 >  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_goto-center-circle_state_approach-center-circle.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 < 5000)   //
{
  
if (challenge-slam.center-circle-visible)   //
{
  
transition-to-state(center-circle-found);
}
else
{
  
transition-to-state(approach-center-circle);
}
}
else
{
  
transition-to-state(init-green-locator);
}

State center-circle-found

If that state is active,
 >  The basic behavior turn is executed. Parameters:
 
    turn.param  =  0 ;
    turn.angle  =  challenge-slam.direction-to-center-circle ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.stay-as-forced
 
The decision tree:
  This browser can't display the SVG file svg/option_goto-center-circle_state_center-circle-found.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 < 100)   //
{
  
transition-to-state(center-circle-found);
}
else
{
  
transition-to-state(align-to-center-circle);
}

State align-to-center-circle

If that state is active,
 >  The basic behavior turn is executed. Parameters:
 
    turn.param  =  1 ;
 
 >  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_goto-center-circle_state_align-to-center-circle.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 (challenge-slam.turn-finished)   //
{
  
transition-to-state(finished);
}
else
{
  
transition-to-state(align-to-center-circle);
}

State finished

If that state is active,
 >  The basic behavior stand is executed.
 
 >  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_goto-center-circle_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);