>xabsl
Behavior Documentation


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>Agents
>Symbols
>Basic Behaviors
>Options
   >>  grab_ball_with_head_direct
        >>>  grab
        >>>  continue_grab
        >>>  grabbed

Option grab_ball_with_head_direct

Grabs the ball with the head

State Machine

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



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

State grab

If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.grab_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  = 
250
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
(ball.angle() * 2)
 
The decision tree:
  This browser can't display the SVG file svg/option_grab_ball_with_head_direct_state_grab.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:
 
/** grab in progress */
if ( state_time < 300)
{
  
stay;
}
else
{
  
/** ball in front of chest */
if ( sensor.something_in_front_of_chest() )
{
  
goto grabbed;
}
else
{
  
/** grab in progress */
if ( state_time < 600)
{
  
stay;
}
else
{
  
goto continue_grab;
}
}
}

State continue_grab

If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.grab_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  = 
400
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
0
 
The decision tree:
  This browser can't display the SVG file svg/option_grab_ball_with_head_direct_state_continue_grab.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 in front of chest */
if ( sensor.something_in_front_of_chest() )
{
  
goto grabbed;
}
else
{
  
/** grab in progress */
if ( state_time < 400)
{
  
stay;
}
else
{
  
goto grabbed;
}
}

State grabbed

This state is a target state.
If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.grab_ball
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.stand
 
The decision tree:
  This browser can't display the SVG file svg/option_grab_ball_with_head_direct_state_grabbed.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:
 
stay;