>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  kicklogger-retreat
        >>>  localize
        >>>  turn-for-ball
        >>>  turn-right-to-ball
        >>>  turn-left-to-ball
        >>>  retreat
        >>>  retreated

Option kicklogger-retreat

State Machine

This browser can't display the SVG file svg/option_kicklogger-retreat.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_kicklogger-retreat_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 (robot-pose.validity > 0.5)   // Localized well
{
  
transition-to-state(retreat);
}
else
{
  
transition-to-state(localize);
}

State turn-for-ball

If that state is active,
 >  The option turn-for-ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_kicklogger-retreat_state_turn-for-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 (ball.time-since-last-seen < 250)   // Ball was seen
{
  
transition-to-state(retreat);
}
else
{
  
transition-to-state(turn-for-ball);
}

State turn-right-to-ball

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.speed-x  =  0 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  -100 ;
 
 >  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_kicklogger-retreat_state_turn-right-to-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 (ball.seen.angle > 7)   // Ball is left
{
  
transition-to-state(turn-left-to-ball);
}
else if (ball.seen.angle < -7)   // Ball is left
{
  
transition-to-state(turn-right-to-ball);
}
else
{
  
transition-to-state(retreat);
}

State turn-left-to-ball

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.speed-x  =  0 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  40 ;
 
 >  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_kicklogger-retreat_state_turn-left-to-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 (ball.seen.angle > 7)   // Ball is left
{
  
transition-to-state(turn-left-to-ball);
}
else if (ball.seen.angle < -7)   // Ball is left
{
  
transition-to-state(turn-right-to-ball);
}
else
{
  
transition-to-state(retreat);
}

State retreat

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.speed-x  =  -80 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
    leds.top-red  =  top.left
    sound-request  =  sound-request.ring
 
The decision tree:
  This browser can't display the SVG file svg/option_kicklogger-retreat_state_retreat.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.angle > 7)   // Ball is left
{
  
transition-to-state(turn-left-to-ball);
}
else if (ball.seen.angle < -7)   // Ball is left
{
  
transition-to-state(turn-right-to-ball);
}
else if (ball.seen.distance > 600)   // far away
{
  
transition-to-state(retreated);
}
else
{
  
transition-to-state(retreat);
}

State retreated

This state is a target state.
If that state is active,
 >  The basic behavior stand is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_kicklogger-retreat_state_retreated.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(retreated);