>xabsl 2
Behavior Documentation
>
Index
>Agents
>Symbols
>Basic Behaviors
>Options
>> position-striker-when-ball-in-own-penalty-area
>>>
position
>>>
ball-not-seen-or-known
Option position-striker-when-ball-in-own-penalty-area
Positions the stiker near the own penalty area when the ball is inside the own penalty area
State Machine
This browser can't display the SVG file
svg/option_position-striker-when-ball-in-own-penalty-area.svg
.
The
Adobe SVG Viewer 3.0
can be downloaded from
http://www.adobe.com/svg/viewer/install/main.html
State position
If that state is active,
>
The basic behavior
potential-field-support
is executed. Parameters:
potential-field-support.x
=
(
field.own-penalty-area.x
+ 600)
;
potential-field-support.y
=
(
sgn
(
robot-pose.y
)
* 500)
;
potential-field-support.max-speed
=
450 ;
>
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_position-striker-when-ball-in-own-penalty-area_state_position.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-known
> 3000
)
// ball not seen or known
{
transition-to-state(
ball-not-seen-or-known
);
}
else
{
transition-to-state(
position
);
}
State ball-not-seen-or-known
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_position-striker-when-ball-in-own-penalty-area_state_ball-not-seen-or-known.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-known
> 3000
)
// ball not seen or known
{
transition-to-state(
ball-not-seen-or-known
);
}
else
{
transition-to-state(
position
);
}