>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  dribble
        >>>  behind_ball
        >>>  behind_ball_near_opponent_goal
        >>>  not_behind_ball

Option dribble

Dribbles the ball without kicking

State Machine

This browser can't display the SVG file svg/option_dribble.svg.



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

State behind_ball

If that state is active,
 >  This enumerated output symbol is set:
    next_action  = 
next_action.W
 
The decision tree:
  This browser can't display the SVG file svg/option_dribble_state_behind_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:
 
/** not behind ball */
if (
!(ball.local.direction() == next_action.W)
)
{
  
goto not_behind_ball;
}
else
{
  
/** near opponent goal */
if ( x() < 13)
{
  
goto behind_ball_near_opponent_goal;
}
else
{
  
stay;
}
}

State behind_ball_near_opponent_goal

If that state is active,
 >  This enumerated output symbol is set:
    next_action  = 
next_action.kick
 
The decision tree:
  This browser can't display the SVG file svg/option_dribble_state_behind_ball_near_opponent_goal.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:
 
goto behind_ball;

State not_behind_ball

If that state is active,
 >  The basic behavior get_behind_ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_dribble_state_not_behind_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:
 
/** not behind ball */
if (
!(ball.local.direction() == next_action.W)
)
{
  
stay;
}
else
{
  
goto behind_ball;
}