>xabsl
Behavior Documentation


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>Basic Behaviors
>Options
   >>  goalie_look_at_ball_and_L
        >>>  search_for_ball
        >>>  look_at_ball_nextL_left
        >>>  look_at_ball_nextL_right
        >>>  look_at_nearest_L_left
        >>>  look_at_nearest_L_right

Option goalie_look_at_ball_and_L

Always looks to the ball and the nearest L of the penalty area

Parameters of that option:
ParameterTypeMeasureRangeDescription
goalie_look_at_ball_and_L.look_at_L_frequencydecimalmsTime after which we should look to the L.

State Machine

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



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

State search_for_ball

If that state is active,
 >  The option search_for_ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_goalie_look_at_ball_and_L_state_search_for_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.was_seen() )
{
  
goto look_at_ball_nextL_left;
}
else
{
  
stay;
}

State look_at_ball_nextL_left

If that state is active,
 >  The option look_at_ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_goalie_look_at_ball_and_L_state_look_at_ball_nextL_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:
 
/** */
if ( ball.time_since_last_seen() > 1000)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( state_time > @goalie_look_at_ball_and_L.look_at_L_frequency)
{
  
goto look_at_nearest_L_left;
}
else
{
  
stay;
}
}

State look_at_ball_nextL_right

If that state is active,
 >  The option look_at_ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_goalie_look_at_ball_and_L_state_look_at_ball_nextL_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:
 
/** */
if ( ball.time_since_last_seen() > 1000)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( state_time > @goalie_look_at_ball_and_L.look_at_L_frequency)
{
  
goto look_at_nearest_L_right;
}
else
{
  
stay;
}
}

State look_at_nearest_L_left

If that state is active,
 >  The option look_at_point is executed. Parameters:
    look_at_point.x  =  selfloc.field_to_relative.x( field.own_penalty_area.x() , field.left_penalty_area.y() ) ;
    look_at_point.y  =  selfloc.field_to_relative.y( field.own_penalty_area.x() , field.left_penalty_area.y() ) ;
    look_at_point.z  =  0 ;
 
The decision tree:
  This browser can't display the SVG file svg/option_goalie_look_at_ball_and_L_state_look_at_nearest_L_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:
 
/** */
if ( state_time > 500)
{
  
goto look_at_ball_nextL_right;
}
else
{
  
stay;
}

State look_at_nearest_L_right

If that state is active,
 >  The option look_at_point is executed. Parameters:
    look_at_point.x  =  (field.own_penalty_area.x() - robot_pose.x() ) ;
    look_at_point.y  =  (field.right_penalty_area.y() - robot_pose.y() ) ;
    look_at_point.z  =  0 ;
 
The decision tree:
  This browser can't display the SVG file svg/option_goalie_look_at_ball_and_L_state_look_at_nearest_L_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:
 
/** */
if ( state_time > 800)
{
  
goto look_at_ball_nextL_left;
}
else
{
  
stay;
}