>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  handle-with-new-flags
        >>>  localize
        >>>  check-localisation
        >>>  turn
        >>>  approach-center-circle
        >>>  approach-point-0
        >>>  wait-for-point-1
        >>>  approach-point-1
        >>>  wait-for-point-2
        >>>  approach-point-2
        >>>  wait-for-point-3
        >>>  approach-point-3
        >>>  wait-for-point-4
        >>>  approach-point-4
        >>>  finished

Option handle-with-new-flags

Selects gamestate according to buttons.

State Machine

This browser can't display the SVG file svg/option_handle-with-new-flags.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.search-for-landmarks
 
The decision tree:
  This browser can't display the SVG file svg/option_handle-with-new-flags_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 < 5000)   //
{
  
transition-to-state(localize);
}
else
{
  
if (robot-state.head-button-pressed-short)   //
{
  
transition-to-state(approach-center-circle);
}
else
{
  
transition-to-state(check-localisation);
}
}

State check-localisation

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_handle-with-new-flags_state_check-localisation.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 (robot-pose.validity > 0.9)   //
{
  
transition-to-state(approach-center-circle);
}
else
{
  
transition-to-state(turn);
}

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  =  120 ;
 
 >  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_handle-with-new-flags_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 > 1400)   // the robot turned for 180 degrees
{
  
transition-to-state(localize);
}
else
{
  
transition-to-state(turn);
}

State approach-center-circle

If that state is active,
 >  The basic behavior go-to-point is executed. Parameters:
 
    go-to-point.x  =  0 ;
    go-to-point.y  =  0 ;
    go-to-point.distance-remain  =  200 ;
    go-to-point.walk-type  =  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_handle-with-new-flags_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 (
(abs( robot-pose.x ) < 200)
&& 
(abs( robot-pose.y ) < 200)
)   //
{
  
transition-to-state(approach-point-0);
}
else
{
  
transition-to-state(approach-center-circle);
}

State approach-point-0

If that state is active,
 >  The basic behavior go-to-point is executed. Parameters:
 
    go-to-point.x  =  challenge-slam.target-position.x( challenge-slam.current-target-point ) ;
    go-to-point.y  =  challenge-slam.target-position.y( challenge-slam.current-target-point ) ;
    go-to-point.destination-angle  =  challenge-slam.target-position.rotation( challenge-slam.current-target-point ) ;
    go-to-point.distance-remain  =  150 ;
    go-to-point.angle-remain  =  15 ;
    go-to-point.max-speed  =  150 ;
    go-to-point.max-speed.y  =  150 ;
    go-to-point.walk-type  =  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_handle-with-new-flags_state_approach-point-0.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 (
(abs( (challenge-slam.target-position.x( 0 ) - robot-pose.x) ) < 150)
&& 
(abs( (challenge-slam.target-position.y( challenge-slam.current-target-point ) - robot-pose.y) ) < 150)
)   //
{
  
transition-to-state(wait-for-point-1);
}
else
{
  
transition-to-state(approach-point-0);
}

State wait-for-point-1

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    tail-mode  =  tail-mode.tail-left-bottom
    head-control-mode  =  head-control-mode.look-to-stars
 
The decision tree:
  This browser can't display the SVG file svg/option_handle-with-new-flags_state_wait-for-point-1.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 (robot-state.head-button-pressed-short)   //
{
  
transition-to-state(approach-point-1);
}
else
{
  
transition-to-state(wait-for-point-1);
}

State approach-point-1

If that state is active,
 >  The basic behavior go-to-point is executed. Parameters:
 
    go-to-point.x  =  challenge-slam.target-position.x( challenge-slam.current-target-point ) ;
    go-to-point.y  =  challenge-slam.target-position.y( challenge-slam.current-target-point ) ;
    go-to-point.destination-angle  =  challenge-slam.target-position.rotation( challenge-slam.current-target-point ) ;
    go-to-point.distance-remain  =  150 ;
    go-to-point.angle-remain  =  15 ;
    go-to-point.max-speed  =  150 ;
    go-to-point.max-speed.y  =  150 ;
    go-to-point.walk-type  =  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_handle-with-new-flags_state_approach-point-1.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 (
(abs( (challenge-slam.target-position.x( 1 ) - robot-pose.x) ) < 150)
&& 
(abs( (challenge-slam.target-position.y( challenge-slam.current-target-point ) - robot-pose.y) ) < 150)
)   //
{
  
transition-to-state(wait-for-point-2);
}
else
{
  
transition-to-state(approach-point-1);
}

State wait-for-point-2

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    tail-mode  =  tail-mode.tail-left-bottom
    head-control-mode  =  head-control-mode.look-to-stars
 
The decision tree:
  This browser can't display the SVG file svg/option_handle-with-new-flags_state_wait-for-point-2.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 (robot-state.head-button-pressed-short)   //
{
  
transition-to-state(approach-point-2);
}
else
{
  
transition-to-state(wait-for-point-2);
}

State approach-point-2

If that state is active,
 >  The basic behavior go-to-point is executed. Parameters:
 
    go-to-point.x  =  challenge-slam.target-position.x( challenge-slam.current-target-point ) ;
    go-to-point.y  =  challenge-slam.target-position.y( challenge-slam.current-target-point ) ;
    go-to-point.destination-angle  =  challenge-slam.target-position.rotation( challenge-slam.current-target-point ) ;
    go-to-point.distance-remain  =  150 ;
    go-to-point.angle-remain  =  15 ;
    go-to-point.max-speed  =  150 ;
    go-to-point.max-speed.y  =  150 ;
    go-to-point.walk-type  =  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_handle-with-new-flags_state_approach-point-2.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 (
(abs( (challenge-slam.target-position.x( 2 ) - robot-pose.x) ) < 150)
&& 
(abs( (challenge-slam.target-position.y( challenge-slam.current-target-point ) - robot-pose.y) ) < 150)
)   //
{
  
transition-to-state(wait-for-point-3);
}
else
{
  
transition-to-state(approach-point-2);
}

State wait-for-point-3

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    tail-mode  =  tail-mode.tail-left-bottom
    head-control-mode  =  head-control-mode.look-to-stars
 
The decision tree:
  This browser can't display the SVG file svg/option_handle-with-new-flags_state_wait-for-point-3.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 (robot-state.head-button-pressed-short)   //
{
  
transition-to-state(approach-point-3);
}
else
{
  
transition-to-state(wait-for-point-3);
}

State approach-point-3

If that state is active,
 >  The basic behavior go-to-point is executed. Parameters:
 
    go-to-point.x  =  challenge-slam.target-position.x( challenge-slam.current-target-point ) ;
    go-to-point.y  =  challenge-slam.target-position.y( challenge-slam.current-target-point ) ;
    go-to-point.destination-angle  =  challenge-slam.target-position.rotation( challenge-slam.current-target-point ) ;
    go-to-point.distance-remain  =  150 ;
    go-to-point.angle-remain  =  15 ;
    go-to-point.max-speed  =  150 ;
    go-to-point.max-speed.y  =  150 ;
    go-to-point.walk-type  =  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_handle-with-new-flags_state_approach-point-3.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 (
(abs( (challenge-slam.target-position.x( 3 ) - robot-pose.x) ) < 150)
&& 
(abs( (challenge-slam.target-position.y( challenge-slam.current-target-point ) - robot-pose.y) ) < 150)
)   //
{
  
transition-to-state(wait-for-point-4);
}
else
{
  
transition-to-state(approach-point-3);
}

State wait-for-point-4

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    tail-mode  =  tail-mode.tail-left-bottom
    head-control-mode  =  head-control-mode.look-to-stars
 
The decision tree:
  This browser can't display the SVG file svg/option_handle-with-new-flags_state_wait-for-point-4.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 (robot-state.head-button-pressed-short)   //
{
  
transition-to-state(approach-point-4);
}
else
{
  
transition-to-state(wait-for-point-4);
}

State approach-point-4

If that state is active,
 >  The basic behavior go-to-point is executed. Parameters:
 
    go-to-point.x  =  challenge-slam.target-position.x( challenge-slam.current-target-point ) ;
    go-to-point.y  =  challenge-slam.target-position.y( challenge-slam.current-target-point ) ;
    go-to-point.destination-angle  =  challenge-slam.target-position.rotation( challenge-slam.current-target-point ) ;
    go-to-point.distance-remain  =  150 ;
    go-to-point.angle-remain  =  15 ;
    go-to-point.max-speed  =  150 ;
    go-to-point.max-speed.y  =  150 ;
    go-to-point.walk-type  =  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_handle-with-new-flags_state_approach-point-4.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 (
(abs( (challenge-slam.target-position.x( 4 ) - robot-pose.x) ) < 150)
&& 
(abs( (challenge-slam.target-position.y( challenge-slam.current-target-point ) - robot-pose.y) ) < 150)
)   //
{
  
transition-to-state(finished);
}
else
{
  
transition-to-state(approach-point-4);
}

State finished

This state is a target state.
If that state is active,
 >  The basic behavior special-action is executed. Parameters:
 
    special-action-id  =  special-action.cheer-happy1 ;
 
The decision tree:
  This browser can't display the SVG file svg/option_handle-with-new-flags_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);