>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  head_sweep
        >>>  down
        >>>  middle_down
        >>>  side_down
        >>>  side
        >>>  middle
        >>>  center
        >>>  finished_left_sweep
        >>>  finished_right_sweep

Option head_sweep

Perform one sweep with the head scanning for the ball

Parameters of that option:
ParameterTypeMeasureRangeDescription
head_sweep.left_sidebooleantrue/ falseIf true perform sweep around left side, right side otherwise.

State Machine

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



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

State down

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  This decimal output symbol is set:
    head.neck_tilt  = 
-30
 >  This decimal output symbol is set:
    head.head_pan  = 
0
 >  This decimal output symbol is set:
    head.head_tilt  = 
-20
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_head_sweep_state_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.position_reached() )
{
  
goto middle_down;
}
else
{
  
stay;
}

State middle_down

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  This decimal output symbol is set:
    head.neck_tilt  = 
-5
 >  This decimal output symbol is set:
    head.head_pan  = 
( @head_sweep.left_side ? 30 : -30 )
 >  This decimal output symbol is set:
    head.head_tilt  = 
-10
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_head_sweep_state_middle_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.position_reached() )
{
  
goto side_down;
}
else
{
  
stay;
}

State side_down

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  This decimal output symbol is set:
    head.neck_tilt  = 
0
 >  This decimal output symbol is set:
    head.head_pan  = 
( @head_sweep.left_side ? 90 : -90 )
 >  This decimal output symbol is set:
    head.head_tilt  = 
-20
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_head_sweep_state_side_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.position_reached() )
{
  
goto side;
}
else
{
  
stay;
}

State side

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  This decimal output symbol is set:
    head.neck_tilt  = 
0
 >  This decimal output symbol is set:
    head.head_pan  = 
( @head_sweep.left_side ? 90 : -90 )
 >  This decimal output symbol is set:
    head.head_tilt  = 
0
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_head_sweep_state_side.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.position_reached() )
{
  
goto middle;
}
else
{
  
stay;
}

State middle

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  This decimal output symbol is set:
    head.neck_tilt  = 
0
 >  This decimal output symbol is set:
    head.head_pan  = 
( @head_sweep.left_side ? 30 : -30 )
 >  This decimal output symbol is set:
    head.head_tilt  = 
0
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_head_sweep_state_middle.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.position_reached() )
{
  
goto center;
}
else
{
  
stay;
}

State center

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  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.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_head_sweep_state_center.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.position_reached() )
{
  
/** */
if ( @head_sweep.left_side)
{
  
goto finished_left_sweep;
}
else
{
  
goto finished_right_sweep;
}
}
else
{
  
stay;
}

State finished_left_sweep

This state is a target state.
If that state is active,
 
The decision tree:
  This browser can't display the SVG file svg/option_head_sweep_state_finished_left_sweep.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_sweep.left_side)
)
{
  
goto down;
}
else
{
  
stay;
}

State finished_right_sweep

This state is a target state.
If that state is active,
 
The decision tree:
  This browser can't display the SVG file svg/option_head_sweep_state_finished_right_sweep.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_sweep.left_side)
{
  
goto down;
}
else
{
  
stay;
}