Symbols for accessing obstacles model and collision detection.
The formalized behavior references a variety of input and output symbols, which can stand for variables or functions of the agent's software. Constants are constant decimal values.
| Name | Type | Measure | Description |
| obstacles.collision-front-left | boolean | true/ false | The collision at the front left leg |
| obstacles.collision-front-right | boolean | true/ false | The collision at the front right leg |
| obstacles.collision-hind-left | boolean | true/ false | The collision at the hind left leg |
| obstacles.collision-hind-right | boolean | true/ false | The collision at the hind right leg |
| obstacles.collision-head | boolean | true/ false | The collision at the head |
| obstacles.collision-aggregate | boolean | true/ false | The collision at all detector |
| obstacles.consecutive-collision-time-front-left | decimal | | The consecutive collision time at the front left leg |
| obstacles.consecutive-collision-time-front-right | decimal | | The consecutive collision time at the front right leg |
| obstacles.consecutive-collision-time-hind-left | decimal | | The consecutive collision time at the hind left leg |
| obstacles.consecutive-collision-time-hind-right | decimal | | The consecutive collision time at the hind right leg |
| obstacles.consecutive-collision-time-head | decimal | | The consecutive collision time at the head |
| obstacles.consecutive-collision-time-aggregate | decimal | | The consecutive collision time at all detector |
| obstacles.min-distance-left | decimal | mm | Min distance left |
| obstacles.min-distance-right | decimal | mm | Min distance right |
| obstacles.min-distance-middle | decimal | mm | Min distance middle |
| obstacles.collision-side | enumerated | middle
left
right
| The side on which a collision occured |
| obstacles.robot-is-stuck | boolean | true/ false | Indicates if the robot is stuck (based on obstacles model) |
| obstacles.close | boolean | true/ false | There are obstacles that are close |
| obstacles.opponents-close-to-ball | boolean | true/ false | There are opponents in the direction of the ball |
| obstacles.obstacle-front | boolean | true/ false | |
| obstacles.obstacle-front-left | decimal | | |
| obstacles.obstacle-front-right | decimal | | |