>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  odometry-tester
        >>>  init
        >>>  point-1
        >>>  point-2
        >>>  point-3
        >>>  point-4
        >>>  point-5
        >>>  point-6
        >>>  point-7
        >>>  point-8

Option odometry-tester

A parcour for testing the quality of measured odometry values

State Machine

This browser can't display the SVG file svg/option_odometry-tester.svg.



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

State init

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.real-slow-scan
 
The decision tree:
  This browser can't display the SVG file svg/option_odometry-tester_state_init.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)   // head pressed for several seconds
{
  
transition-to-state(point-1);
}
else
{
  
transition-to-state(init);
}

State point-1

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    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
 
The decision tree:
  This browser can't display the SVG file svg/option_odometry-tester_state_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 (500 < robot-pose.x)   //
{
  
transition-to-state(point-2);
}
else
{
  
transition-to-state(point-1);
}

State point-2

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  250 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  30 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-straight-ahead
 
The decision tree:
  This browser can't display the SVG file svg/option_odometry-tester_state_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 (90 < robot-pose.angle)   //
{
  
transition-to-state(point-3);
}
else
{
  
transition-to-state(point-2);
}

State point-3

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    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
 
The decision tree:
  This browser can't display the SVG file svg/option_odometry-tester_state_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 (500 < robot-pose.y)   // reached-end-of-lane
{
  
transition-to-state(point-4);
}
else
{
  
transition-to-state(point-3);
}

State point-4

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  250 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  30 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-straight-ahead
 
The decision tree:
  This browser can't display the SVG file svg/option_odometry-tester_state_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 (
(175 < robot-pose.angle)
|| 
(robot-pose.angle < -175)
)   // reached-end-of-lane
{
  
transition-to-state(point-5);
}
else
{
  
transition-to-state(point-4);
}

State point-5

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    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
 
The decision tree:
  This browser can't display the SVG file svg/option_odometry-tester_state_point-5.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.x < -500)   // reached-end-of-path-segment
{
  
transition-to-state(point-6);
}
else
{
  
transition-to-state(point-5);
}

State point-6

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  250 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  30 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-straight-ahead
 
The decision tree:
  This browser can't display the SVG file svg/option_odometry-tester_state_point-6.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.angle < -80)
&& 
(-90 < robot-pose.angle)
)   // reached-end-of-path-segment
{
  
transition-to-state(point-7);
}
else
{
  
transition-to-state(point-6);
}

State point-7

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    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
 
The decision tree:
  This browser can't display the SVG file svg/option_odometry-tester_state_point-7.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.y < -500)   //
{
  
transition-to-state(point-8);
}
else
{
  
transition-to-state(point-7);
}

State point-8

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  250 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  30 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-straight-ahead
 
The decision tree:
  This browser can't display the SVG file svg/option_odometry-tester_state_point-8.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 (0 < robot-pose.angle)   //
{
  
transition-to-state(init);
}
else
{
  
transition-to-state(point-8);
}