>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  vlc-playing
        >>>  search
        >>>  confusedRepositioning
        >>>  approach
        >>>  approachNearBallGoodDirection
        >>>  approachNearBallBadDirection
        >>>  faceBall
        >>>  turnAroundBall
        >>>  turnWithBall
        >>>  dribble
        >>>  kick
        >>>  relocalize
        >>>  prepareKick

Option vlc-playing

the VLC-playing option

State Machine

This browser can't display the SVG file svg/option_vlc-playing.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
If that state is active,
 >  The option vlc2-search-for-ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_vlc-playing_state_search.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.just-seen)   // ball was just seen
{
  
transition-to-state(approach);
}
else if (
(time-of-state-execution > 7000)
&& 
(save-value( 123 , (-1300 + (random * 2600)) ) == 0)
)   // ball wasn't seen for a very long time (use the save/get hack to fix a random number for the positioning
{
  
transition-to-state(confusedRepositioning);
}
else
{
  
transition-to-state(search);
}

State confusedRepositioning

If that state is active,
 >  The option get-to-position-and-avoid-obstacles is executed. Parameters:
 
    get-to-position-and-avoid-obstacles.x  =  500 ;
    get-to-position-and-avoid-obstacles.y  =  get-value( 123 ) ;
    get-to-position-and-avoid-obstacles.destination-angle  =  0 ;
    get-to-position-and-avoid-obstacles.max-speed  =  450 ;
    get-to-position-and-avoid-obstacles.no-obstacle-avoidance-distance  =  700 ;
    get-to-position-and-avoid-obstacles.avoid-penalty-areas  =  0 ;
    get-to-position-and-avoid-obstacles.avoidance-level  =  1 ;
 
 >  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_vlc-playing_state_confusedRepositioning.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.just-seen)   // ball was seen
{
  
transition-to-state(approach);
}
else if (distance-to( 500 , get-value( 123 ) ) < 300)   // reached the target position
{
  
transition-to-state(search);
}
else
{
  
transition-to-state(confusedRepositioning);
}

State approach

If that state is active,
 >  The basic behavior go-to-ball is executed. Parameters:
 
    go-to-ball.distance  =  0 ;
    go-to-ball.max-speed  =  450 ;
    go-to-ball.max-speed.y  =  300 ;
    go-to-ball.max-turn-speed  =  150 ;
    go-to-ball.target-angle-to-ball  =  ball.known-or-near.angle ;
    go-to-ball.walk-type  =  walk-type.normal ;
    go-to-ball.y-offset  =  0 ;
 
 >  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_vlc-playing_state_approach.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 > 3000)   // lost sight of the ball
{
  
transition-to-state(search);
}
else if (ball.known-or-near.distance < 800)   // ball is near
{
  
if (abs( (ball.known-or-near.angle - angle-to( 2700 , 0 )) ) < 80)   // we approach the ball from the right side, i.e. directed to the opponent goal
{
  
transition-to-state(approachNearBallGoodDirection);
}
else
{
  
transition-to-state(approachNearBallBadDirection);
}
}
else
{
  
transition-to-state(approach);
}

State approachNearBallGoodDirection

If that state is active,
 >  The basic behavior go-to-ball is executed. Parameters:
 
    go-to-ball.distance  =  120 ;
    go-to-ball.max-speed  =  300 ;
    go-to-ball.max-speed.y  =  300 ;
    go-to-ball.max-turn-speed  =  120 ;
    go-to-ball.target-angle-to-ball  =  angle.best-angle-to-opponent-goal ;
    go-to-ball.walk-type  =  0 ;
    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_vlc-playing_state_approachNearBallGoodDirection.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)   // lost the ball
{
  
transition-to-state(search);
}
else if (
(abs( (ball.known-or-near.angle - angle.best-angle-to-opponent-goal) ) > 100)
|| 
(ball.known-or-near.distance > 1000)
)   // direction is not good any more or ball is somehow too far away now
{
  
transition-to-state(approach);
}
else if (ball.seen.distance < 300)   // ball is near enough to kick
{
  
transition-to-state(faceBall);
}
else
{
  
transition-to-state(approachNearBallGoodDirection);
}

State approachNearBallBadDirection

If that state is active,
 >  The option grab-ball-with-vlc2-head is executed.
 
 >  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_vlc-playing_state_approachNearBallBadDirection.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)   // lost the ball
{
  
transition-to-state(search);
}
else if (
(abs( (ball.known-or-near.angle - angle.best-angle-to-opponent-goal) ) < 60)
|| 
(ball.known-or-near.distance > 1000)
)   // direction is not that bad any more or ball is somehow too far away now
{
  
transition-to-state(approach);
}
else if (subsequent-option-reached-target-state)   // ball is grabbed
{
  
transition-to-state(turnWithBall);
}
else
{
  
transition-to-state(approachNearBallBadDirection);
}

State faceBall

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  0 ;
    walk.speed-x  =  0 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  (sgn( ball.known-or-near.angle ) * 150) ;
 
 >  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_vlc-playing_state_faceBall.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.known-or-near.distance > 300)
|| 
(ball.time-since-last-seen > 3000)
)   // ball is too far away or not seen any more
{
  
transition-to-state(approach);
}
else if (ball.known-or-near.angle < 20)   // robot is facing the ball
{
  
transition-to-state(turnAroundBall);
}
else
{
  
transition-to-state(faceBall);
}

State turnAroundBall

If that state is active,
 >  The basic behavior turn-around-point is executed. Parameters:
 
    turn-around-point.x  =  ball.known-or-near.x ;
    turn-around-point.y  =  ball.known-or-near.y ;
    turn-around-point.radius  =  ball.propagated.distance ;
    turn-around-point.left-right  =  sgn( (ball.known-or-near.angle - angle.best-angle-to-opponent-goal) ) ;
    turn-around-point.forward-component  =  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_vlc-playing_state_turnAroundBall.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.known-or-near.distance > 200)   // ball is too far away
{
  
transition-to-state(approach);
}
else
{
  
if (abs( ((angle.best-angle-to-opponent-goal + angle.best-angle-to-opponent-goal-no-obstacles) / 2) ) < 5)   // direction is ok now
{
  
if (robot-pose.distance-to-opponent-goal > 1600)   // goal is to far away for a good shot
{
  
transition-to-state(dribble);
}
else if (abs( ball.known-or-near.y ) > 1400)   // ball near a border
{
  
transition-to-state(dribble);
}
else
{
  
transition-to-state(relocalize);
}
}
else
{
  
transition-to-state(turnAroundBall);
}
}

State turnWithBall

If that state is active,
 >  The option vlc-turn-and-release is executed. Parameters:
 
    vlc-turn-and-release.angle  =  angle.best-angle-to-opponent-goal ;
 
The decision tree:
  This browser can't display the SVG file svg/option_vlc-playing_state_turnWithBall.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)   // turning finished or ball lost or something
{
  
transition-to-state(relocalize);
}
else
{
  
transition-to-state(turnWithBall);
}

State dribble

If that state is active,
 >  The option vlc2-localized-dribbling is executed. Parameters:
 
    vlc2-localized-dribbling.destination-angle  =  angle-to( 2000 , 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_vlc-playing_state_dribble.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 < 3000)   // ball lost
{
  
transition-to-state(search);
}
else if (robot-pose.distance-to-opponent-goal < 1100)   // near enough to consider kicking
{
  
transition-to-state(approach);
}
else if (
(ball.known-or-near.distance > 300)
|| 
(abs( (angle-to( 2000 , 0 ) - ball.known-or-near.angle) ) > 100)
)   // ball is now to far away or the direction is shitty
{
  
transition-to-state(approach);
}
else
{
  
transition-to-state(dribble);
}

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-fast ;
    do-special-action.target-action-id  =  0 ;
 
The decision tree:
  This browser can't display the SVG file svg/option_vlc-playing_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(approach);
}
else
{
  
transition-to-state(kick);
}

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_vlc-playing_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)   // should be relocalized after a few seconds
{
  
transition-to-state(prepareKick);
}
else
{
  
transition-to-state(relocalize);
}

State prepareKick

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_vlc-playing_state_prepareKick.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 > 2000)
|| 
(ball.just-seen)
)   // to be sure where the ball is
{
  
if (robot-pose.distance-to-opponent-goal > 1600)   // goal is to far away for a good shot
{
  
transition-to-state(dribble);
}
else
{
  
if (
(ball.known-or-near.distance < 210)
&& 
(abs( ball.known-or-near.angle ) < 25)
)   // direction is ok
{
  
if (abs( ((angle.best-angle-to-opponent-goal + angle.best-angle-to-opponent-goal-no-obstacles) / 2) ) < 8)   // if direction is very good
{
  
transition-to-state(kick);
}
else if (
(abs( angle-to( 2700 , 0 ) ) < 20)
&& 
(robot-pose.distance-to-opponent-goal < 600)
)   // if direction to the goal is ok and the goal is right in front of the robot
{
  
transition-to-state(kick);
}
else
{
  
transition-to-state(turnAroundBall);
}
}
else
{
  
transition-to-state(turnAroundBall);
}
}
}
else
{
  
transition-to-state(prepareKick);
}