>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  kick_demo
        >>>  stand
        >>>  grab_ball_with_head_fast
        >>>  grab_ball_with_head_direct
        >>>  wait_for_kick
        >>>  head_kick_from_grab_soft
        >>>  head_left
        >>>  roll_over_neck_right

Option kick_demo

State Machine

This browser can't display the SVG file svg/option_kick_demo.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.control_mode  = 
head.control_mode.look_straight_ahead
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.stand
 
The decision tree:
  This browser can't display the SVG file svg/option_kick_demo_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 (
(switch.hind_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto stand;
}
else
{
  
/** */
if (
(switch.fore_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto grab_ball_with_head_fast;
}
else
{
  
/** */
if (
(switch.middle_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto wait_for_kick;
}
else
{
  
stay;
}
}
}

State grab_ball_with_head_fast

If that state is active,
 >  The option grab_ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_kick_demo_state_grab_ball_with_head_fast.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 (
(switch.hind_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto stand;
}
else
{
  
/** */
if ( action_done)
{
  
goto wait_for_kick;
}
else
{
  
/** */
if (
(switch.fore_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto wait_for_kick;
}
else
{
  
stay;
}
}
}

State grab_ball_with_head_direct

If that state is active,
 >  The option grab_ball_with_head_direct is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_kick_demo_state_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
 
Pseudo code of the decision tree:
 
/** */
if (
(switch.hind_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto stand;
}
else
{
  
/** */
if ( action_done)
{
  
goto wait_for_kick;
}
else
{
  
/** */
if (
(switch.fore_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto stand;
}
else
{
  
stay;
}
}
}

State wait_for_kick

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_kick_demo_state_wait_for_kick.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 (
(switch.hind_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto stand;
}
else
{
  
/** */
if (
(switch.fore_back_button_pressed_short_and_released() )
&& 
(state_time > 1000)
)
{
  
goto head_kick_from_grab_soft;
}
else
{
  
/** */
if (
(switch.middle_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto head_left;
}
else
{
  
/** */
if (
(switch.any_back_button_pressed_for_one_second() )
&& 
(state_time > 1000)
)
{
  
goto roll_over_neck_right;
}
else
{
  
stay;
}
}
}
}

State head_kick_from_grab_soft

If that state is active,
 >  The option special_action is executed. Parameters:
    special_action.id  =  motion.special_action.forward_kick_fast ;
    special_action.mirror  =  false ;
 
The decision tree:
  This browser can't display the SVG file svg/option_kick_demo_state_head_kick_from_grab_soft.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 (
(switch.hind_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto stand;
}
else
{
  
/** */
if ( action_done)
{
  
goto stand;
}
else
{
  
stay;
}
}

State head_left

If that state is active,
 >  The option special_action is executed. Parameters:
    special_action.id  =  motion.special_action.head_left ;
 
The decision tree:
  This browser can't display the SVG file svg/option_kick_demo_state_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 (
(switch.hind_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto stand;
}
else
{
  
/** */
if ( action_done)
{
  
goto stand;
}
else
{
  
stay;
}
}

State roll_over_neck_right

If that state is active,
 >  The option special_action is executed. Parameters:
    special_action.id  =  motion.special_action.roll_over_neck_left ;
    special_action.mirror  =  true ;
 
The decision tree:
  This browser can't display the SVG file svg/option_kick_demo_state_roll_over_neck_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 (
(switch.hind_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto stand;
}
else
{
  
/** */
if ( action_done)
{
  
goto stand;
}
else
{
  
stay;
}
}