>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  goalie_position
        >>>  position_between_ball_and_goal
        >>>  ball_not_seen

Option goalie_position

Positions the goalie inside it's goal.

State Machine

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



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State position_between_ball_and_goal

If that state is active,
 >  This enumerated output symbol is set:
    leds.back_middle_white  = 
leds.blink.llll
 >  The option go_to_point_smart is executed. Parameters:
    go_to_point_smart.x  =  selfloc.goalie_position.x() ;
    go_to_point_smart.y  =  selfloc.goalie_position.y() ;
    go_to_point_smart.angle  =  normalize( (robot_pose.angle() + ball.angle() ) ) ;
 
The decision tree:
  This browser can't display the SVG file svg/option_goalie_position_state_position_between_ball_and_goal.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() > 800)
{
  
goto ball_not_seen;
}
else
{
  
stay;
}

State ball_not_seen

If that state is active,
 >  This enumerated output symbol is set:
    leds.back_rear_white  = 
leds.blink.llll
 >  The option go_to_point_smart is executed. Parameters:
    go_to_point_smart.x  =  (field.own_ground_line.x() + 150) ;
    go_to_point_smart.y  =  0 ;
    go_to_point_smart.angle  =  0 ;
 >  The option localize is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_goalie_position_state_ball_not_seen.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 position_between_ball_and_goal;
}
else
{
  
stay;
}