>xabsl
Behavior Documentation


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>Symbols
>Basic Behaviors
>Options
   >>  kick_ball_with_head
        >>>  stand
        >>>  move_head_left
        >>>  move_head_right
        >>>  shoot_with_head_left
        >>>  shoot_with_head_right
        >>>  do_nothing
        >>>  tState

Option kick_ball_with_head

Parameters of that option:
ParameterTypeMeasureRangeDescription
kick_ball_with_head.left_sidebooleantrue/ false

State Machine

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



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

State stand

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  = 
0
 >  This decimal output symbol is set:
    head.head_pan  = 
-1
 >  This decimal output symbol is set:
    head.head_tilt  = 
-43
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_kick_ball_with_head_state_stand.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 (
(state_time > 40)
&& 
(@kick_ball_with_head.left_side)
)
{
  
goto move_head_left;
}
else
{
  
/** */
if (
(state_time > 40)
&& 
(
!(@kick_ball_with_head.left_side)
)
)
{
  
goto move_head_right;
}
else
{
  
stay;
}
}

State move_head_left

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  = 
-180
 >  This decimal output symbol is set:
    head.head_pan  = 
-103
 >  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_kick_ball_with_head_state_move_head_left.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 ( state_time > 340)
{
  
goto shoot_with_head_left;
}
else
{
  
stay;
}

State move_head_right

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  = 
-180
 >  This decimal output symbol is set:
    head.head_pan  = 
103
 >  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_kick_ball_with_head_state_move_head_right.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 ( state_time > 340)
{
  
goto shoot_with_head_right;
}
else
{
  
stay;
}

State shoot_with_head_left

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  = 
-57
 >  This decimal output symbol is set:
    head.head_pan  = 
130
 >  This decimal output symbol is set:
    head.head_tilt  = 
30
 >  This decimal output symbol is set:
    head.speed  = 
500
 >  This decimal output symbol is set:
    head.mouth  = 
-50
 
The decision tree:
  This browser can't display the SVG file svg/option_kick_ball_with_head_state_shoot_with_head_left.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 ( state_time > 400)
{
  
goto do_nothing;
}
else
{
  
stay;
}

State shoot_with_head_right

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  = 
-57
 >  This decimal output symbol is set:
    head.head_pan  = 
-130
 >  This decimal output symbol is set:
    head.head_tilt  = 
30
 >  This decimal output symbol is set:
    head.speed  = 
500
 >  This decimal output symbol is set:
    head.mouth  = 
-50
 
The decision tree:
  This browser can't display the SVG file svg/option_kick_ball_with_head_state_shoot_with_head_right.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 ( state_time > 400)
{
  
goto do_nothing;
}
else
{
  
stay;
}

State do_nothing

If that state is active,
 
The decision tree:
  This browser can't display the SVG file svg/option_kick_ball_with_head_state_do_nothing.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 ( state_time > 150)
{
  
goto tState;
}
else
{
  
stay;
}

State tState

This state is a target state.
If that state is active,
 
The decision tree:
  This browser can't display the SVG file svg/option_kick_ball_with_head_state_tState.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;