>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  kick-vlc2
        >>>  grabball
        >>>  turn
        >>>  bevorstandbevorkick
        >>>  standbevorkick
        >>>  turn2
        >>>  standbevorkick2
        >>>  kickformstand
        >>>  realykickformstand
        >>>  turnforheadkick
        >>>  headkicktorigth
        >>>  headkicktoleft
        >>>  kick
        >>>  standandlook

Option kick-vlc2

State Machine

This browser can't display the SVG file svg/option_kick-vlc2.svg.



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

State grabball

If that state is active,
 >  The option grab-ball-with-vlc2-head is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc2_state_grabball.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)   // ball grabbed
{
  
if (angle.best-angle-to-opponent-goal-no-obstacles < -40)   //
{
  
transition-to-state(turnforheadkick);
}
else if (angle.best-angle-to-opponent-goal-no-obstacles < 40)   //
{
  
transition-to-state(turn);
}
else
{
  
transition-to-state(turnforheadkick);
}
}
else
{
  
transition-to-state(grabball);
}

State turn

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.turn-with-ball ;
    walk.speed-x  =  0 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  ((sgn( ((angle.best-angle-to-opponent-goal + angle.best-angle-to-opponent-goal-no-obstacles) / 2) ) * 100) + ((angle.best-angle-to-opponent-goal + angle.best-angle-to-opponent-goal-no-obstacles) / 2)) ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.hold-ball
    strategy.ball-handling  =  dribble-the-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc2_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 > 3000)   //
{
  
transition-to-state(standbevorkick);
}
else if (abs( ((angle.best-angle-to-opponent-goal + angle.best-angle-to-opponent-goal-no-obstacles) / 2) ) < 7)   //
{
  
transition-to-state(bevorstandbevorkick);
}
else
{
  
transition-to-state(turn);
}

State bevorstandbevorkick

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.turn-with-ball ;
    walk.speed-x  =  0 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.hold-ball
    strategy.ball-handling  =  dribble-the-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc2_state_bevorstandbevorkick.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 > 500)   //
{
  
transition-to-state(standbevorkick);
}
else
{
  
transition-to-state(bevorstandbevorkick);
}

State standbevorkick

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.turn-with-ball ;
    walk.speed-x  =  0 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-parallel-to-ground
    strategy.ball-handling  =  dribble-the-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc2_state_standbevorkick.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 > 500)   //
{
  
if (abs( ((angle.best-angle-to-opponent-goal + angle.best-angle-to-opponent-goal-no-obstacles) / 2) ) < 15)   //
{
  
transition-to-state(kickformstand);
}
else
{
  
transition-to-state(turn2);
}
}
else
{
  
transition-to-state(standbevorkick);
}

State turn2

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.walk-with-ball ;
    walk.speed-x  =  -250 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-straight-ahead
    strategy.ball-handling  =  dribble-the-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc2_state_turn2.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(grabball);
}
else
{
  
transition-to-state(turn2);
}

State standbevorkick2

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.walk-with-ball ;
    walk.speed-x  =  0 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-parallel-to-ground
    strategy.ball-handling  =  dribble-the-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc2_state_standbevorkick2.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 > 500)   //
{
  
transition-to-state(kickformstand);
}
else
{
  
transition-to-state(standbevorkick2);
}

State kickformstand

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  -100 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-parallel-to-ground
    strategy.ball-handling  =  handling-the-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc2_state_kickformstand.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 < 250)   //
{
  
transition-to-state(realykickformstand);
}
else
{
  
transition-to-state(kickformstand);
}

State realykickformstand

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
    strategy.ball-handling  =  handling-the-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc2_state_realykickformstand.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(standandlook);
}
else
{
  
transition-to-state(realykickformstand);
}

State turnforheadkick

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.turn-with-ball ;
    walk.speed-x  =  0 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  (sgn( angle.best-angle-to-opponent-goal-no-obstacles ) * 100) ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.hold-ball
    strategy.ball-handling  =  dribble-the-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc2_state_turnforheadkick.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)   //
{
  
transition-to-state(standbevorkick2);
}
else if (abs( (angle.best-angle-to-opponent-goal-no-obstacles - 40) ) < 10)   //
{
  
transition-to-state(headkicktoleft);
}
else if (abs( (angle.best-angle-to-opponent-goal-no-obstacles + 40) ) < 10)   //
{
  
transition-to-state(headkicktorigth);
}
else if (abs( angle.best-angle-to-opponent-goal-no-obstacles ) < 30)   //
{
  
transition-to-state(turn2);
}
else
{
  
transition-to-state(turnforheadkick);
}

State headkicktorigth

If that state is active,
 >  The option do-special-action is executed. Parameters:
 
    do-special-action.special-action-id  =  special-action.head-right ;
    do-special-action.target-action-id  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.hold-ball
    strategy.ball-handling  =  handling-the-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc2_state_headkicktorigth.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(standandlook);
}
else
{
  
transition-to-state(headkicktorigth);
}

State headkicktoleft

If that state is active,
 >  The option do-special-action is executed. Parameters:
 
    do-special-action.special-action-id  =  special-action.head-left ;
    do-special-action.target-action-id  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.hold-ball
    strategy.ball-handling  =  handling-the-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc2_state_headkicktoleft.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(standandlook);
}
else
{
  
transition-to-state(headkicktoleft);
}

State kick

If that state is active,
 >  The option do-special-action is executed. Parameters:
 
    do-special-action.special-action-id  =  special-action.bash-from-grab ;
    do-special-action.target-action-id  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.hold-ball
    strategy.ball-handling  =  handling-the-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc2_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(standandlook);
}
else
{
  
transition-to-state(kick);
}

State standandlook

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
    strategy.ball-handling  =  handling-the-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_kick-vlc2_state_standandlook.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)   //
{
  
if (ball.seen.x > field.opponent-penalty-area.x)   //
{
  
if (time-of-state-execution > 4000)   //
{
  
transition-to-state(grabball);
}
else
{
  
transition-to-state(standandlook);
}
}
else
{
  
transition-to-state(grabball);
}
}
else
{
  
transition-to-state(standandlook);
}