>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  goalie_clear_ball
        >>>  walk
        >>>  ball_behind

Option goalie_clear_ball

The goalie tries to clear the ball.

State Machine

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



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

State walk

If that state is active,
 >  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.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 * cos( ball.angle() ) )
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
(500 * sin( ball.angle() ) )
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
(0 - robot_pose.angle() )
 
The decision tree:
  This browser can't display the SVG file svg/option_goalie_clear_ball_state_walk.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:
 
/** ball is behind goalie */
if (
(abs( ball.position.robot.x() ) < 300)
&& 
(abs( (ball.angle() + robot_pose.angle() ) ) > 100)
)
{
  
goto ball_behind;
}
else
{
  
stay;
}

State ball_behind

If that state is active,
 >  The option grab_and_dribble is executed. Parameters:
    grab_and_dribble.angle  =  selfloc.opponent_goal.angle() ;
    grab_and_dribble.angle_width  =  20 ;
    grab_and_dribble.forward_kick  =  true ;
    grab_and_dribble.time_limit  =  4500 ;
    grab_and_dribble.dribble_forward  =  true ;
 
The decision tree:
  This browser can't display the SVG file svg/option_goalie_clear_ball_state_ball_behind.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:
 
/** ball is handled */
if ( strategy.ball_is_grabbed)
{
  
stay;
}
else
{
  
/** ball is no longer behind goalie */
if ( abs( (ball.angle() + robot_pose.angle() ) ) < 90)
{
  
goto walk;
}
else
{
  
stay;
}
}