>xabsl
Behavior Documentation
>Index
>Agents
>Symbols
>Basic Behaviors
>Options
>> go_to_point_forward
>>> walk
>>> stop

Option go_to_point_forward

Go to a specific position on the field

Parameters of that option:
Parameter Type Measure Range Description
go_to_point_forward.x decimal mm -3000..3000 x position of the point to walk to on the field
go_to_point_forward.y decimal mm -2000..2000 y position of the point to walk to on the field
go_to_point_forward.speed decimal mm/s speed, default to very fast speed

State Machine

State walk

If that state is active,

>

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

=

( abs( selfloc.angle_to( @go_to_point_forward.x , @go_to_point_forward.y ) ) > 45 ? 0 : ( @go_to_point_forward.speed == 0 ? 500 : @go_to_point_forward.speed ) )

>

This decimal output symbol is set:

motion.walk_speed.y

=

0

>

This decimal output symbol is set:

motion.walk_speed.rot

=

(2 * selfloc.angle_to( @go_to_point_forward.x , @go_to_point_forward.y ) )

>

This decimal output symbol is set:

strategy.destination.x

=

@go_to_point_forward.x

>

This decimal output symbol is set:

strategy.destination.y

=

@go_to_point_forward.y

The decision tree:

Pseudo code of the decision tree:

/** */

if (

selfloc.distance_to( @go_to_point_forward.x , @go_to_point_forward.y ) < 100

)

{

goto stop;

}

else

{

stay;

}

State stop

This state is a target state.

If that state is active,

>

This enumerated output symbol is set:

motion.type

=

motion.type.stand

The decision tree:

Pseudo code of the decision tree:

/** */

if (

selfloc.distance_to( @go_to_point_forward.x , @go_to_point_forward.y ) > 200

)

{

goto walk;

}

else

{

stay;

}