>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  vlc-playing2
        >>>  handleBall
        >>>  goAndGrab
        >>>  turnAndRelease
        >>>  search
        >>>  confusedRepositioning

Option vlc-playing2

the VLC-playing option (very much like the penalty player of 2004)

State Machine

This browser can't display the SVG file svg/option_vlc-playing2.svg.



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

State handleBall

If that state is active,
 >  The option vlc-handle-ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_vlc-playing2_state_handleBall.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
{
  
if (abs( (ball.known-or-near.angle - angle.angle-to-point-behind-opponent-goal) ) > 150)   // ball is in a direction where grabbing and turning would be better
{
  
transition-to-state(goAndGrab);
}
else
{
  
transition-to-state(handleBall);
}
}
else if (ball.time-since-last-seen > 4000)   // ball not seen for some time
{
  
transition-to-state(search);
}
else
{
  
transition-to-state(handleBall);
}

State goAndGrab

If that state is active,
 >  The option grab-ball-with-head is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_vlc-playing2_state_goAndGrab.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 was sucessfully grabbed
{
  
transition-to-state(turnAndRelease);
}
else if (
(ball.just-seen)
&& 
(abs( (ball.known-or-near.angle - angle.angle-to-point-behind-opponent-goal) ) < 120)
)   // ball was just seen and lies in a quite good direction to thegoal
{
  
transition-to-state(handleBall);
}
else if (ball.time-since-last-seen > 4000)   // ball not seen for some time
{
  
transition-to-state(search);
}
else
{
  
transition-to-state(goAndGrab);
}

State turnAndRelease

If that state is active,
 >  The option vlc-turn-and-release is executed. Parameters:
 
    vlc-turn-and-release.angle  =  angle.angle-to-center-of-opponent-penalty-area ;
 
The decision tree:
  This browser can't display the SVG file svg/option_vlc-playing2_state_turnAndRelease.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 was turned or lost
{
  
transition-to-state(handleBall);
}
else
{
  
transition-to-state(turnAndRelease);
}
If that state is active,
 >  The option vlc-search-for-ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_vlc-playing2_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(handleBall);
}
else if (
(time-of-state-execution > 6000)
&& 
(save-value( 123 , (-1600 + (random * 3200)) ) == 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-playing2_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(handleBall);
}
else if (distance-to( 500 , get-value( 123 ) ) < 400)   // reached the target position
{
  
transition-to-state(search);
}
else
{
  
transition-to-state(confusedRepositioning);
}