>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  vlc2-localized-dribbling
        >>>  delocalized
        >>>  relocalized
        >>>  localized

Option vlc2-localized-dribbling

Parameters of that option:
ParameterMeasureRangeDescription
vlc2-localized-dribbling.destination-angle

State Machine

This browser can't display the SVG file svg/option_vlc2-localized-dribbling.svg.



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

State delocalized

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_vlc2-localized-dribbling_state_delocalized.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 < 700)   //
{
  
transition-to-state(delocalized);
}
else if (
(time-of-state-execution < 2500)
&& 
(robot-pose.validity < 0.7)
)   //
{
  
transition-to-state(delocalized);
}
else
{
  
transition-to-state(relocalized);
}

State relocalized

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_vlc2-localized-dribbling_state_relocalized.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 < 400)   //
{
  
transition-to-state(relocalized);
}
else
{
  
transition-to-state(localized);
}

State localized

This state is a target state.
If that state is active,
 >  The option dribble-ball-vlc2 is executed. Parameters:
 
    dribble-ball-vlc2.destination-angle  =  ::vlc2-localized-dribbling.destination-angle ;
 
 >  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_vlc2-localized-dribbling_state_localized.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 < 2500)   //
{
  
transition-to-state(localized);
}
else if (robot-pose.validity < 0.6)   //
{
  
transition-to-state(delocalized);
}
else if (time-of-state-execution > 6000)   //
{
  
transition-to-state(delocalized);
}
else
{
  
transition-to-state(localized);
}