>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  handle-ball
        >>>  approach-and-turn
        >>>  turn-and-release
        >>>  kick

Option handle-ball

The striker playing

State Machine

This browser can't display the SVG file svg/option_handle-ball.svg.



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

State approach-and-turn

If that state is active,
 >  The option approach-and-turn is executed. Parameters:
 
    approach-and-turn.angle  =  angle.perfect-angle-to-opponent-goal ;
    approach-and-turn.y-offset  =  (-50 * sin( angle.perfect-angle-to-opponent-goal )) ;
 
 >  These output symbols are set:
 
    angle.angle-shown-by-leds  =  angle.perfect-angle-to-opponent-goal
 
The decision tree:
  This browser can't display the SVG file svg/option_handle-ball_state_approach-and-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 (strategy.ball-is-handled-at-the-moment)   // ball is handled
{
  
transition-to-state(approach-and-turn);
}
else if (abs( angle.perfect-angle-to-opponent-goal ) > 100)   // opponent goal is behind
{
  
transition-to-state(turn-and-release);
}
else if (
(strategy.time-since-last-kick > 1000)
&& 
(ball.just-seen)
&& 
(abs( ball.seen.relative-speed.y ) < 150)
&& 
(ball.seen.relative-speed.x < 150)
)   // kick possible
{
  
transition-to-state(kick);
}
else
{
  
transition-to-state(approach-and-turn);
}

State turn-and-release

If that state is active,
 >  The option turn-and-release is executed. Parameters:
 
    turn-and-release.angle  =  (angle.perfect-angle-to-opponent-goal - (30 * sgn( angle.perfect-angle-to-opponent-goal ))) ;
 
 >  These output symbols are set:
 
    angle.angle-shown-by-leds  =  angle.perfect-angle-to-opponent-goal
 
The decision tree:
  This browser can't display the SVG file svg/option_handle-ball_state_turn-and-release.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 (strategy.ball-is-handled-at-the-moment)   // ball is handled
{
  
transition-to-state(turn-and-release);
}
else if (
(strategy.time-since-last-kick > 1000)
&& 
(ball.just-seen)
&& 
(abs( ball.seen.relative-speed.y ) < 150)
&& 
(ball.seen.relative-speed.x < 150)
)   // kick possible
{
  
transition-to-state(kick);
}
else if (abs( angle.perfect-angle-to-opponent-goal ) < 80)   // opponent goal is in front
{
  
transition-to-state(kick);
}
else
{
  
transition-to-state(turn-and-release);
}

State kick

If that state is active,
 >  The option execute-kick is executed. Parameters:
 
    execute-kick.action  =  retrieve-kick( angle.best-angle-to-opponent-goal-no-obstacles , angle.best-width-of-opponent-goal-no-obstacles , kick-selection-table.in-center-of-field ) ;
 
 >  These output symbols are set:
 
    strategy.ball-handling  =  performing-a-kick
    angle.angle-shown-by-leds  =  angle.best-angle-to-opponent-goal-no-obstacles
 
The decision tree:
  This browser can't display the SVG file svg/option_handle-ball_state_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 (subsequent-option-reached-target-state)   // kick finished
{
  
transition-to-state(approach-and-turn);
}
else
{
  
transition-to-state(kick);
}