>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  kick-vlc
        >>>  go-to-ball-far
        >>>  go-to-ball-near
        >>>  rotate-to-angle
        >>>  relocalize
        >>>  focus-ball
        >>>  get-closer-for-kick
        >>>  kick
        >>>  finished

Option kick-vlc

this option positions the robot and performs a kick

State Machine

This browser can't display the SVG file svg/option_kick-vlc.svg.



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

State go-to-ball-far

If that state is active,
 >  The basic behavior go-to-ball is executed. Parameters:
 
    go-to-ball.distance  =  0 ;
    go-to-ball.max-speed  =  300 ;
    go-to-ball.max-speed.y  =  0 ;
    go-to-ball.max-turn-speed  =  150 ;
    go-to-ball.target-angle-to-ball  =  0 ;
    go-to-ball.walk-type  =  walk-type.gt2004mode ;
    go-to-ball.y-offset  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc_state_go-to-ball-far.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 (ball.seen.distance < 400)   //
{
  
transition-to-state(go-to-ball-near);
}
else
{
  
transition-to-state(go-to-ball-far);
}

State go-to-ball-near

If that state is active,
 >  The basic behavior go-to-ball is executed. Parameters:
 
    go-to-ball.distance  =  80 ;
    go-to-ball.max-speed  =  130 ;
    go-to-ball.max-speed.y  =  0 ;
    go-to-ball.max-turn-speed  =  150 ;
    go-to-ball.target-angle-to-ball  =  0 ;
    go-to-ball.walk-type  =  walk-type.gt2004mode ;
    go-to-ball.y-offset  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc_state_go-to-ball-near.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 > 2500)
&& 
(robot-pose.validity < 0.7)
)   //
{
  
transition-to-state(relocalize);
}
else if (ball.seen.distance > 450)   //
{
  
transition-to-state(go-to-ball-far);
}
else if (ball.seen.distance < 300)   //
{
  
transition-to-state(rotate-to-angle);
}
else
{
  
transition-to-state(go-to-ball-near);
}

State rotate-to-angle

If that state is active,
 >  The basic behavior turn-around-point is executed. Parameters:
 
    turn-around-point.x  =  ball.propagated.x ;
    turn-around-point.y  =  ball.propagated.y ;
    turn-around-point.radius  =  ball.propagated.distance ;
    turn-around-point.left-right  =  sgn( ((-1 * (angle.best-angle-to-opponent-goal + angle.best-angle-to-opponent-goal-no-obstacles)) / 2) ) ;
    turn-around-point.forward-component  =  100 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc_state_rotate-to-angle.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 (ball.seen.distance > 500)   //
{
  
transition-to-state(go-to-ball-far);
}
else if (abs( ((angle.best-angle-to-opponent-goal + angle.best-angle-to-opponent-goal-no-obstacles) / 2) ) < 5)   //
{
  
transition-to-state(relocalize);
}
else
{
  
transition-to-state(rotate-to-angle);
}

State relocalize

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_kick-vlc_state_relocalize.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 < 1000)   //
{
  
transition-to-state(relocalize);
}
else
{
  
transition-to-state(focus-ball);
}

State focus-ball

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc_state_focus-ball.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 < 700)   //
{
  
transition-to-state(focus-ball);
}
else if (
(abs( ((angle.best-angle-to-opponent-goal + angle.best-angle-to-opponent-goal-no-obstacles) / 2) ) < 8)
|| 
(
(robot-pose.distance-to-opponent-goal < 700)
&& 
(abs( ((angle.best-angle-to-opponent-goal + angle.best-angle-to-opponent-goal-no-obstacles) / 2) ) < 20)
)
)   //
{
  
if (
(ball.known-or-near.distance < 210)
&& 
(abs( ball.known-or-near.angle ) < 25)
)   //
{
  
transition-to-state(kick);
}
else
{
  
transition-to-state(get-closer-for-kick);
}
}
else
{
  
transition-to-state(go-to-ball-near);
}

State get-closer-for-kick

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.gt2004mode ;
    walk.speed-x  =  (ball.propagated.distance / 2) ;
    walk.speed-y  =  ball.propagated.angle ;
    walk.rotation-speed  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc_state_get-closer-for-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 (
(ball.propagated.distance > 310)
|| 
(abs( ball.propagated.angle ) > 40)
)   //
{
  
transition-to-state(go-to-ball-near);
}
else if (
(ball.propagated.distance < 180)
&& 
(abs( ball.propagated.angle ) < 20)
)   //
{
  
transition-to-state(relocalize);
}
else
{
  
transition-to-state(get-closer-for-kick);
}

State kick

If that state is active,
 >  The option do-special-action is executed. Parameters:
 
    do-special-action.special-action-id  =  special-action.forward-kick-hard ;
    do-special-action.target-action-id  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc_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)   //
{
  
transition-to-state(go-to-ball-near);
}
else
{
  
transition-to-state(kick);
}

State finished

This state is a target state.
If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc_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);