>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  defensive_supporter
        >>>  position
        >>>  team_ball_position
        >>>  search_ball

Option defensive_supporter

The defensive supporter

State Machine

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



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

State position

If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 >  The option position_defensive_supporter is executed. Parameters:
    position_defensive_supporter.ball_x  =  ball.position.field.x() ;
    position_defensive_supporter.ball_y  =  ball.position.field.y() ;
 >  The option localize is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_defensive_supporter_state_position.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 (
(ball.time_since_last_seen() > 5000)
&& 
(ball.time_since_team_confirmed() > 5000)
)
{
  
goto search_ball;
}
else
{
  
/** */
if ( ball.time_since_team_confirmed() < (ball.time_since_last_seen() - 3000))
{
  
goto team_ball_position;
}
else
{
  
/** */
if ( true)
{
  
goto position;
}
else
{
  
stay;
}
}
}

State team_ball_position

If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 >  The option position_defensive_supporter is executed. Parameters:
    position_defensive_supporter.ball_x  =  ball.team_position.field.x() ;
    position_defensive_supporter.ball_y  =  ball.team_position.field.y() ;
 >  The option localize is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_defensive_supporter_state_team_ball_position.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 (
(ball.time_since_last_seen() > 5000)
&& 
(ball.time_since_team_confirmed() > 5000)
)
{
  
goto search_ball;
}
else
{
  
/** */
if ( ball.time_since_team_confirmed() < (ball.time_since_last_seen() - 3000))
{
  
goto team_ball_position;
}
else
{
  
/** */
if ( true)
{
  
goto position;
}
else
{
  
stay;
}
}
}

State search_ball

If that state is active,
 >  The option search_ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_defensive_supporter_state_search_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 (
(ball.time_since_last_seen() > 5000)
&& 
(ball.time_since_team_confirmed() > 5000)
)
{
  
goto search_ball;
}
else
{
  
/** */
if ( ball.time_since_team_confirmed() < (ball.time_since_last_seen() - 3000))
{
  
goto team_ball_position;
}
else
{
  
/** */
if ( true)
{
  
goto position;
}
else
{
  
stay;
}
}
}