>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  catch-and-release-ball
        >>>  catch-ball
        >>>  catch-ball-high
        >>>  release-ball

Option catch-and-release-ball

Catches and releases the ball automaticly

State Machine

This browser can't display the SVG file svg/option_catch-and-release-ball.svg.



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

State catch-ball

If that state is active,
 >  The basic behavior grab-ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_catch-and-release-ball_state_catch-ball.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 (
(head-control-mode == release-caught-ball-when-turning-left)
&& 
(position-in-walk-cycle > 0.27)
&& 
(position-in-walk-cycle < 0.35)
)   // head control mode is release-ball-left
{
  
transition-to-state(release-ball);
}
else if (
(head-control-mode == release-caught-ball-when-turning-right)
&& 
(position-in-walk-cycle > 0.77)
&& 
(position-in-walk-cycle < 0.85)
)   // head control mode is release-ball-right
{
  
transition-to-state(release-ball);
}
else if (head-control-mode == catch-ball-high)   //
{
  
transition-to-state(catch-ball-high);
}
else
{
  
transition-to-state(catch-ball);
}

State catch-ball-high

If that state is active,
 >  The basic behavior grab-ball-high is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_catch-and-release-ball_state_catch-ball-high.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:
 
transition-to-state(catch-ball-high);

State release-ball

If that state is active,
 >  The basic behavior release-ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_catch-and-release-ball_state_release-ball.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:
 
transition-to-state(release-ball);