>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  after_dribble
        >>>  decide_stop
        >>>  head_up
        >>>  head_up_and_brake
        >>>  stop_ball
        >>>  look_between_feet
        >>>  dont_grab
        >>>  trick_shot_left
        >>>  trick_shot_right
        >>>  sugar_kick
        >>>  after_kick
        >>>  finished
        >>>  grab
        >>>  grabbed

Option after_dribble

* handle the grabbed ball after dribbling was finished without kicking the ball

Parameters of that option:
ParameterTypeMeasureRangeDescription
after_dribble.stop_ballbooleantrue/ falsefalse for dont stop, true for stopping the ball after head up
after_dribble.regrabbooleantrue/ falsetrue for regrabbing directl after stop

State Machine

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



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

State decide_stop

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
true
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.grab_ball
 
The decision tree:
  This browser can't display the SVG file svg/option_after_dribble_state_decide_stop.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 ( @after_dribble.stop_ball)
{
  
goto stop_ball;
}
else
{
  
goto sugar_kick;
}

State head_up

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
true
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.look_straight_ahead
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.walk
 >  This enumerated output symbol is set:
    motion.walk_type  = 
motion.walk_type.normal
 >  This decimal output symbol is set:
    motion.walk_speed.x  = 
450
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
0
 
The decision tree:
  This browser can't display the SVG file svg/option_after_dribble_state_head_up.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:
 
/** when times up, head up and reduce speed */
if (
(state_time > 500)
|| 
(ball.was_seen() )
)
{
  
goto head_up_and_brake;
}
else
{
  
stay;
}

State head_up_and_brake

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
true
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.look_straight_ahead
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.walk
 >  This enumerated output symbol is set:
    motion.walk_type  = 
motion.walk_type.normal
 >  This decimal output symbol is set:
    motion.walk_speed.x  = 
200
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
0
 
The decision tree:
  This browser can't display the SVG file svg/option_after_dribble_state_head_up_and_brake.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 ( state_time > 500)
{
  
goto finished;
}
else
{
  
stay;
}

State stop_ball

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
true
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.grab_ball
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.walk
 >  This enumerated output symbol is set:
    motion.walk_type  = 
motion.walk_type.walk_with_ball
 >  This decimal output symbol is set:
    motion.walk_speed.x  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
0
 
The decision tree:
  This browser can't display the SVG file svg/option_after_dribble_state_stop_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 ( state_time < 300)
{
  
stay;
}
else
{
  
goto look_between_feet;
}

State look_between_feet

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
true
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.look_down
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.walk
 >  This enumerated output symbol is set:
    motion.walk_type  = 
motion.walk_type.walk_with_ball
 >  This decimal output symbol is set:
    motion.walk_speed.x  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
0
 
The decision tree:
  This browser can't display the SVG file svg/option_after_dribble_state_look_between_feet.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 (
(state_time > 500)
|| 
(ball.was_seen() )
)
{
  
goto dont_grab;
}
else
{
  
stay;
}

State dont_grab

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
false
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_landmarks
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.stand
 
The decision tree:
  This browser can't display the SVG file svg/option_after_dribble_state_dont_grab.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 ( state_time > 1000)
{
  
/** */
if ( @after_dribble.regrab)
{
  
goto grab;
}
else
{
  
goto finished;
}
}
else
{
  
stay;
}

State trick_shot_left

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
true
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 >  The option special_action is executed. Parameters:
    special_action.id  =  motion.special_action.ddd_tackle_shot_left ;
    special_action.mirror  =  false ;
 
The decision tree:
  This browser can't display the SVG file svg/option_after_dribble_state_trick_shot_left.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:
 
/** Kick finished */
if ( action_done)
{
  
goto after_kick;
}
else
{
  
stay;
}

State trick_shot_right

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
true
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 >  The option special_action is executed. Parameters:
    special_action.id  =  motion.special_action.ddd_tackle_shot_left ;
    special_action.mirror  =  true ;
 
The decision tree:
  This browser can't display the SVG file svg/option_after_dribble_state_trick_shot_right.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:
 
/** Kick finished */
if ( action_done)
{
  
goto after_kick;
}
else
{
  
stay;
}

State sugar_kick

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
true
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 >  The option special_action is executed. Parameters:
    special_action.id  =  motion.special_action.forward_kick_fast ;
 
The decision tree:
  This browser can't display the SVG file svg/option_after_dribble_state_sugar_kick.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:
 
/** Kick finished */
if ( action_done)
{
  
goto after_kick;
}
else
{
  
stay;
}

State after_kick

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
true
 >  This boolean output symbol is set:
    strategy.ball_was_kicked  = 
true
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.look_straight_ahead
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.walk
 >  This enumerated output symbol is set:
    motion.walk_type  = 
motion.walk_type.normal
 >  This decimal output symbol is set:
    motion.walk_speed.x  = 
500
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
0
 
The decision tree:
  This browser can't display the SVG file svg/option_after_dribble_state_after_kick.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 ( state_time > 300)
{
  
goto finished;
}
else
{
  
stay;
}

State finished

This state is a target state.
If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
false
 >  This boolean output symbol is set:
    strategy.ball_was_kicked  = 
false
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.stand
 
The decision tree:
  This browser can't display the SVG file svg/option_after_dribble_state_finished.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:
 
stay;

State grab

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
false
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.grab_ball
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.stand
 
The decision tree:
  This browser can't display the SVG file svg/option_after_dribble_state_grab.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 ( state_time > 300)
{
  
goto grabbed;
}
else
{
  
stay;
}

State grabbed

This state is a target state.
If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
true
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.grab_ball
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.stand
 
The decision tree:
  This browser can't display the SVG file svg/option_after_dribble_state_grabbed.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:
 
stay;