>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  go_to_point_smart_avoid_collisions
        >>>  go_to_point
        >>>  avoid_collision

Option go_to_point_smart_avoid_collisions

Go to a specific position on the field and avoid collisions with teammates

Parameters of that option:
ParameterTypeMeasureRangeDescription
go_to_point_smart_avoid_collisions.xdecimalmm-3000..3000x position of the point to walk to on the field
go_to_point_smart_avoid_collisions.ydecimalmm-2000..2000y position of the point to walk to on the field
go_to_point_smart_avoid_collisions.angledecimaldeg-180..180desired angle at position

State Machine

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

State go_to_point

If that state is active,
 >  The option go_to_point_smart is executed. Parameters:
    go_to_point_smart.x  =  @go_to_point_smart_avoid_collisions.x ;
    go_to_point_smart.y  =  @go_to_point_smart_avoid_collisions.y ;
    go_to_point_smart.angle  =  @go_to_point_smart_avoid_collisions.angle ;
    go_to_point_smart.avoid_obstacles  =  true ;
 
The decision tree:
  This browser can't display the SVG file svg/option_go_to_point_smart_avoid_collisions_state_go_to_point.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 ( strategy.teammate_collision_warning( @go_to_point_smart_avoid_collisions.x , @go_to_point_smart_avoid_collisions.y ) )
{
  
goto avoid_collision;
}
else
{
  
/** */
if ( true)
{
  
goto go_to_point;
}
else
{
  
stay;
}
}

State avoid_collision

If that state is active,
 >  The option go_to_point_smart is executed. Parameters:
    go_to_point_smart.x  =  strategy.alternative_destination.x() ;
    go_to_point_smart.y  =  strategy.alternative_destination.y() ;
    go_to_point_smart.angle  =  selfloc.angle_to( @go_to_point_smart_avoid_collisions.x , @go_to_point_smart_avoid_collisions.y ) ;
    go_to_point_smart.avoid_obstacles  =  true ;
 
The decision tree:
  This browser can't display the SVG file svg/option_go_to_point_smart_avoid_collisions_state_avoid_collision.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 ( strategy.teammate_collision_warning( @go_to_point_smart_avoid_collisions.x , @go_to_point_smart_avoid_collisions.y ) )
{
  
goto avoid_collision;
}
else
{
  
/** */
if ( true)
{
  
goto go_to_point;
}
else
{
  
stay;
}
}