>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  handle-with-old-flags
        >>>  localize
        >>>  check-localisation
        >>>  turn
        >>>  approach-center-circle
        >>>  learn-new-flags
        >>>  goto-wait-point

Option handle-with-old-flags

Selects gamestate according to buttons.

State Machine

This browser can't display the SVG file svg/option_handle-with-old-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-old-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
{
  
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-old-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 > 0.4)   //
{
  
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-old-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-old-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(learn-new-flags);
}
else
{
  
transition-to-state(approach-center-circle);
}

State learn-new-flags

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-landmarks
 
The decision tree:
  This browser can't display the SVG file svg/option_handle-with-old-flags_state_learn-new-flags.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(learn-new-flags);
}
else
{
  
transition-to-state(goto-wait-point);
}

State goto-wait-point

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-landmarks
 
The decision tree:
  This browser can't display the SVG file svg/option_handle-with-old-flags_state_goto-wait-point.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(goto-wait-point);