>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  head_control
        >>>  none
        >>>  look_straight_ahead
        >>>  look_down
        >>>  search_for_landmarks
        >>>  search_for_ball
        >>>  stay_as_forced
        >>>  grab_ball
        >>>  goalie_head_control
        >>>  defender_head_control
        >>>  search_for_landmarks_and_ball
        >>>  search_for_landmarks_obstacle_challenge
        >>>  search_for_middle_circle

Option head_control

The base option for the head control behavior

State Machine

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



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

State none

If that state is active,
 
The decision tree:
  This browser can't display the SVG file svg/option_head_control_state_none.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 ( head.control_mode == head.control_mode.none)
{
  
goto none;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_straight_ahead)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_down)
{
  
goto look_down;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks)
{
  
goto search_for_landmarks;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_ball)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.stay_as_forced)
{
  
goto stay_as_forced;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.grab_ball)
{
  
goto grab_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.goalie_head_control)
{
  
goto goalie_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.defender_head_control)
{
  
goto defender_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_and_ball)
{
  
goto search_for_landmarks_and_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_obstacle_challenge)
{
  
goto search_for_landmarks_obstacle_challenge;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_middle_circle)
{
  
goto search_for_middle_circle;
}
else
{
  
stay;
}
}
}
}
}
}
}
}
}
}
}
}

State look_straight_ahead

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  This enumerated output symbol is set:
    head.pid_setting  = 
head.pid_setting.normal
 >  This decimal output symbol is set:
    head.neck_tilt  = 
0
 >  This decimal output symbol is set:
    head.head_pan  = 
0
 >  This decimal output symbol is set:
    head.head_tilt  = 
0
 >  This decimal output symbol is set:
    head.mouth  = 
0
 
The decision tree:
  This browser can't display the SVG file svg/option_head_control_state_look_straight_ahead.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 ( head.control_mode == head.control_mode.none)
{
  
goto none;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_straight_ahead)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_down)
{
  
goto look_down;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks)
{
  
goto search_for_landmarks;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_ball)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.stay_as_forced)
{
  
goto stay_as_forced;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.grab_ball)
{
  
goto grab_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.goalie_head_control)
{
  
goto goalie_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.defender_head_control)
{
  
goto defender_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_and_ball)
{
  
goto search_for_landmarks_and_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_obstacle_challenge)
{
  
goto search_for_landmarks_obstacle_challenge;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_middle_circle)
{
  
goto search_for_middle_circle;
}
else
{
  
stay;
}
}
}
}
}
}
}
}
}
}
}
}

State look_down

If that state is active,
 >  This enumerated output symbol is set:
    head.pid_setting  = 
head.pid_setting.normal
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.direct
 >  This decimal output symbol is set:
    head.neck_tilt  = 
-25
 >  This decimal output symbol is set:
    head.head_pan  = 
0
 >  This decimal output symbol is set:
    head.head_tilt  = 
-30
 >  This decimal output symbol is set:
    head.mouth  = 
0
 
The decision tree:
  This browser can't display the SVG file svg/option_head_control_state_look_down.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 ( head.control_mode == head.control_mode.none)
{
  
goto none;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_straight_ahead)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_down)
{
  
goto look_down;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks)
{
  
goto search_for_landmarks;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_ball)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.stay_as_forced)
{
  
goto stay_as_forced;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.grab_ball)
{
  
goto grab_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.goalie_head_control)
{
  
goto goalie_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.defender_head_control)
{
  
goto defender_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_and_ball)
{
  
goto search_for_landmarks_and_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_obstacle_challenge)
{
  
goto search_for_landmarks_obstacle_challenge;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_middle_circle)
{
  
goto search_for_middle_circle;
}
else
{
  
stay;
}
}
}
}
}
}
}
}
}
}
}
}

State search_for_landmarks

If that state is active,
 >  This enumerated output symbol is set:
    head.pid_setting  = 
head.pid_setting.normal
 >  This decimal output symbol is set:
    head.mouth  = 
0
 >  The option search_for_landmarks is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_head_control_state_search_for_landmarks.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 ( head.control_mode == head.control_mode.none)
{
  
goto none;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_straight_ahead)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_down)
{
  
goto look_down;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks)
{
  
goto search_for_landmarks;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_ball)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.stay_as_forced)
{
  
goto stay_as_forced;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.grab_ball)
{
  
goto grab_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.goalie_head_control)
{
  
goto goalie_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.defender_head_control)
{
  
goto defender_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_and_ball)
{
  
goto search_for_landmarks_and_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_obstacle_challenge)
{
  
goto search_for_landmarks_obstacle_challenge;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_middle_circle)
{
  
goto search_for_middle_circle;
}
else
{
  
stay;
}
}
}
}
}
}
}
}
}
}
}
}

State search_for_ball

If that state is active,
 >  This enumerated output symbol is set:
    head.pid_setting  = 
head.pid_setting.normal
 >  This decimal output symbol is set:
    head.mouth  = 
0
 >  The option search_for_ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_head_control_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 ( head.control_mode == head.control_mode.none)
{
  
goto none;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_straight_ahead)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_down)
{
  
goto look_down;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks)
{
  
goto search_for_landmarks;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_ball)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.stay_as_forced)
{
  
goto stay_as_forced;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.grab_ball)
{
  
goto grab_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.goalie_head_control)
{
  
goto goalie_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.defender_head_control)
{
  
goto defender_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_and_ball)
{
  
goto search_for_landmarks_and_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_obstacle_challenge)
{
  
goto search_for_landmarks_obstacle_challenge;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_middle_circle)
{
  
goto search_for_middle_circle;
}
else
{
  
stay;
}
}
}
}
}
}
}
}
}
}
}
}

State stay_as_forced

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.stay_as_forced
 >  This enumerated output symbol is set:
    head.pid_setting  = 
head.pid_setting.normal
 >  This decimal output symbol is set:
    head.mouth  = 
0
 
The decision tree:
  This browser can't display the SVG file svg/option_head_control_state_stay_as_forced.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 ( head.control_mode == head.control_mode.none)
{
  
goto none;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_straight_ahead)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_down)
{
  
goto look_down;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks)
{
  
goto search_for_landmarks;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_ball)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.stay_as_forced)
{
  
goto stay_as_forced;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.grab_ball)
{
  
goto grab_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.goalie_head_control)
{
  
goto goalie_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.defender_head_control)
{
  
goto defender_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_and_ball)
{
  
goto search_for_landmarks_and_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_obstacle_challenge)
{
  
goto search_for_landmarks_obstacle_challenge;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_middle_circle)
{
  
goto search_for_middle_circle;
}
else
{
  
stay;
}
}
}
}
}
}
}
}
}
}
}
}

State grab_ball

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.direct
 >  This enumerated output symbol is set:
    head.pid_setting  = 
head.pid_setting.normal
 >  This decimal output symbol is set:
    head.neck_tilt  = 
-60
 >  This decimal output symbol is set:
    head.head_pan  = 
0
 >  This decimal output symbol is set:
    head.head_tilt  = 
50
 >  This decimal output symbol is set:
    head.mouth  = 
-55
 
The decision tree:
  This browser can't display the SVG file svg/option_head_control_state_grab_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 ( head.control_mode == head.control_mode.none)
{
  
goto none;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_straight_ahead)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_down)
{
  
goto look_down;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks)
{
  
goto search_for_landmarks;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_ball)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.stay_as_forced)
{
  
goto stay_as_forced;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.grab_ball)
{
  
goto grab_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.goalie_head_control)
{
  
goto goalie_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.defender_head_control)
{
  
goto defender_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_and_ball)
{
  
goto search_for_landmarks_and_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_obstacle_challenge)
{
  
goto search_for_landmarks_obstacle_challenge;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_middle_circle)
{
  
goto search_for_middle_circle;
}
else
{
  
stay;
}
}
}
}
}
}
}
}
}
}
}
}

State goalie_head_control

If that state is active,
 >  This enumerated output symbol is set:
    head.pid_setting  = 
head.pid_setting.normal
 >  This decimal output symbol is set:
    head.mouth  = 
0
 >  The option goalie_head_control is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_head_control_state_goalie_head_control.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 ( head.control_mode == head.control_mode.none)
{
  
goto none;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_straight_ahead)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_down)
{
  
goto look_down;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks)
{
  
goto search_for_landmarks;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_ball)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.stay_as_forced)
{
  
goto stay_as_forced;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.grab_ball)
{
  
goto grab_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.goalie_head_control)
{
  
goto goalie_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.defender_head_control)
{
  
goto defender_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_and_ball)
{
  
goto search_for_landmarks_and_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_obstacle_challenge)
{
  
goto search_for_landmarks_obstacle_challenge;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_middle_circle)
{
  
goto search_for_middle_circle;
}
else
{
  
stay;
}
}
}
}
}
}
}
}
}
}
}
}

State defender_head_control

If that state is active,
 >  This enumerated output symbol is set:
    head.pid_setting  = 
head.pid_setting.normal
 >  This decimal output symbol is set:
    head.mouth  = 
0
 >  The option defender_head_control is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_head_control_state_defender_head_control.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 ( head.control_mode == head.control_mode.none)
{
  
goto none;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_straight_ahead)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_down)
{
  
goto look_down;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks)
{
  
goto search_for_landmarks;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_ball)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.stay_as_forced)
{
  
goto stay_as_forced;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.grab_ball)
{
  
goto grab_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.goalie_head_control)
{
  
goto goalie_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.defender_head_control)
{
  
goto defender_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_and_ball)
{
  
goto search_for_landmarks_and_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_obstacle_challenge)
{
  
goto search_for_landmarks_obstacle_challenge;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_middle_circle)
{
  
goto search_for_middle_circle;
}
else
{
  
stay;
}
}
}
}
}
}
}
}
}
}
}
}

State search_for_landmarks_and_ball

If that state is active,
 >  This enumerated output symbol is set:
    head.pid_setting  = 
head.pid_setting.normal
 >  This decimal output symbol is set:
    head.mouth  = 
0
 >  The option search_for_landmarks_and_ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_head_control_state_search_for_landmarks_and_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 ( head.control_mode == head.control_mode.none)
{
  
goto none;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_straight_ahead)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_down)
{
  
goto look_down;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks)
{
  
goto search_for_landmarks;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_ball)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.stay_as_forced)
{
  
goto stay_as_forced;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.grab_ball)
{
  
goto grab_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.goalie_head_control)
{
  
goto goalie_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.defender_head_control)
{
  
goto defender_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_and_ball)
{
  
goto search_for_landmarks_and_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_obstacle_challenge)
{
  
goto search_for_landmarks_obstacle_challenge;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_middle_circle)
{
  
goto search_for_middle_circle;
}
else
{
  
stay;
}
}
}
}
}
}
}
}
}
}
}
}

State search_for_landmarks_obstacle_challenge

If that state is active,
 >  This enumerated output symbol is set:
    head.pid_setting  = 
head.pid_setting.normal
 >  This decimal output symbol is set:
    head.mouth  = 
0
 >  The option search_for_landmarks_obstacle_challenge is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_head_control_state_search_for_landmarks_obstacle_challenge.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 ( head.control_mode == head.control_mode.none)
{
  
goto none;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_straight_ahead)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_down)
{
  
goto look_down;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks)
{
  
goto search_for_landmarks;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_ball)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.stay_as_forced)
{
  
goto stay_as_forced;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.grab_ball)
{
  
goto grab_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.goalie_head_control)
{
  
goto goalie_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.defender_head_control)
{
  
goto defender_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_and_ball)
{
  
goto search_for_landmarks_and_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_obstacle_challenge)
{
  
goto search_for_landmarks_obstacle_challenge;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_middle_circle)
{
  
goto search_for_middle_circle;
}
else
{
  
stay;
}
}
}
}
}
}
}
}
}
}
}
}

State search_for_middle_circle

If that state is active,
 >  This enumerated output symbol is set:
    head.pid_setting  = 
head.pid_setting.normal
 >  This decimal output symbol is set:
    head.mouth  = 
0
 >  The option search_for_middle_circle is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_head_control_state_search_for_middle_circle.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 ( head.control_mode == head.control_mode.none)
{
  
goto none;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_straight_ahead)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.look_down)
{
  
goto look_down;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks)
{
  
goto search_for_landmarks;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_ball)
{
  
goto search_for_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.stay_as_forced)
{
  
goto stay_as_forced;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.grab_ball)
{
  
goto grab_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.goalie_head_control)
{
  
goto goalie_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.defender_head_control)
{
  
goto defender_head_control;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_and_ball)
{
  
goto search_for_landmarks_and_ball;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_landmarks_obstacle_challenge)
{
  
goto search_for_landmarks_obstacle_challenge;
}
else
{
  
/** */
if ( head.control_mode == head.control_mode.search_for_middle_circle)
{
  
goto search_for_middle_circle;
}
else
{
  
stay;
}
}
}
}
}
}
}
}
}
}
}
}