>xabsl
Behavior Documentation


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>Basic Behaviors
>Options
   >>  lnw_decide_current_role
        >>>  goalie
        >>>  striker
        >>>  offensive_supporter
        >>>  defensive_supporter

Option lnw_decide_current_role

Decide which role the robot is currently playing

State Machine

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



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

State goalie

If that state is active,
 >  This decimal output symbol is set:
    strategy.estimated_time_to_reach_ball  = 
-1
 >  This enumerated output symbol is set:
    strategy.role  = 
strategy.role.goalie
 >  The option playing_goalie is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_lnw_decide_current_role_state_goalie.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 ( game.player_number() == 1)
{
  
goto goalie;
}
else
{
  
/** */
if ( strategy.estimated_time_to_reach_ball < strategy.min_teammate_time_to_reach_ball() )
{
  
goto striker;
}
else
{
  
/** */
if (
(strategy.max_supporter_position_on_field.x() < robot_pose.x() )
&& 
(strategy.max_supporter_position_on_field.x() > -100000)
)
{
  
goto offensive_supporter;
}
else
{
  
/** */
if ( true)
{
  
goto defensive_supporter;
}
else
{
  
stay;
}
}
}
}

State striker

If that state is active,
 >  This enumerated output symbol is set:
    leds.face1  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face2  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face3  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face4  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face5  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face6  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face7  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face8  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face9  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face10  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face11  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face12  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face13  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face14  = 
leds.blink.llll
 >  The option estimate_time_to_reach_ball is executed. Parameters:
    estimate_time_to_reach_ball.player_is_striker  =  true ;
 >  This enumerated output symbol is set:
    strategy.role  = 
strategy.role.striker
 >  The option lnw_playing_striker is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_lnw_decide_current_role_state_striker.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 ( game.player_number() == 1)
{
  
goto goalie;
}
else
{
  
/** */
if ( strategy.estimated_time_to_reach_ball < strategy.min_teammate_time_to_reach_ball() )
{
  
goto striker;
}
else
{
  
/** */
if (
(strategy.max_supporter_position_on_field.x() < robot_pose.x() )
&& 
(strategy.max_supporter_position_on_field.x() > -100000)
)
{
  
goto offensive_supporter;
}
else
{
  
/** */
if ( true)
{
  
goto defensive_supporter;
}
else
{
  
stay;
}
}
}
}

State offensive_supporter

If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 >  The option estimate_time_to_reach_ball is executed. Parameters:
    estimate_time_to_reach_ball.player_is_striker  =  false ;
 >  This enumerated output symbol is set:
    strategy.role  = 
strategy.role.offensive_supporter
 >  The option lnw_playing_supporter is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_lnw_decide_current_role_state_offensive_supporter.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 ( game.player_number() == 1)
{
  
goto goalie;
}
else
{
  
/** */
if ( strategy.estimated_time_to_reach_ball < strategy.min_teammate_time_to_reach_ball() )
{
  
goto striker;
}
else
{
  
/** */
if (
(strategy.max_supporter_position_on_field.x() < robot_pose.x() )
&& 
(strategy.max_supporter_position_on_field.x() > -100000)
)
{
  
goto offensive_supporter;
}
else
{
  
/** */
if ( true)
{
  
goto defensive_supporter;
}
else
{
  
stay;
}
}
}
}

State defensive_supporter

If that state is active,
 >  The option estimate_time_to_reach_ball is executed. Parameters:
    estimate_time_to_reach_ball.player_is_striker  =  false ;
 >  This enumerated output symbol is set:
    strategy.role  = 
strategy.role.defensive_supporter
 >  The option lnw_playing_supporter is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_lnw_decide_current_role_state_defensive_supporter.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 ( game.player_number() == 1)
{
  
goto goalie;
}
else
{
  
/** */
if ( strategy.estimated_time_to_reach_ball < strategy.min_teammate_time_to_reach_ball() )
{
  
goto striker;
}
else
{
  
/** */
if (
(strategy.max_supporter_position_on_field.x() < robot_pose.x() )
&& 
(strategy.max_supporter_position_on_field.x() > -100000)
)
{
  
goto offensive_supporter;
}
else
{
  
/** */
if ( true)
{
  
goto defensive_supporter;
}
else
{
  
stay;
}
}
}
}