>xabsl
Behavior Documentation
>
Index
>Agents
>Symbols
>Basic Behaviors
>Options
>> handle_fall_down
>>>
standing
>>>
crashed
>>>
getup
Option handle_fall_down
This option lets the robot stand up when it has fallen down.
State Machine
This browser can't display the SVG file
svg/option_handle_fall_down.svg
.
The
Adobe SVG Viewer 3.0
can be downloaded from
http://www.adobe.com/svg/viewer/install/main.html
State standing
If that state is active,
The decision tree:
This browser can't display the SVG file
svg/option_handle_fall_down_state_standing.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
(
(
fall_down.state
()
== fall_down.state.crashed
)
&&
(
game.penalty
()
== game.penalty.none
)
)
{
goto
crashed
;
}
else
{
stay;
}
State crashed
If that state is active,
>
This enumerated output symbol is set:
motion.type
=
motion.type.getup
The decision tree:
This browser can't display the SVG file
svg/option_handle_fall_down_state_crashed.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
(
(
fall_down.state
()
== fall_down.state.crashed
)
&&
(
game.penalty
()
== game.penalty.none
)
)
{
goto
crashed
;
}
else
{
/** */
if
(
executed_motion.type
()
== motion.type.getup
)
{
goto
getup
;
}
else
{
stay;
}
}
State getup
If that state is active,
>
This enumerated output symbol is set:
motion.type
=
motion.type.stand
The decision tree:
This browser can't display the SVG file
svg/option_handle_fall_down_state_getup.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
(
(
fall_down.state
()
== fall_down.state.crashed
)
&&
(
game.penalty
()
== game.penalty.none
)
)
{
goto
crashed
;
}
else
{
/** */
if
(
executed_motion.type
()
== motion.type.getup
)
{
stay;
}
else
{
goto
standing
;
}
}