>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  lnw_playing_supporter
        >>>  ball_found
        >>>  turn_to_ball
        >>>  search_ball

Option lnw_playing_supporter

A supporter responsible for defense

State Machine

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



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

State ball_found

If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_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_lnw_playing_supporter_state_ball_found.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 (
(
(
!(ball.was_seen() )
)
&& 
(ball.time_since_last_seen() > 300)
)
|| 
(
(ball.was_seen() )
&& 
(abs( ball.angle() ) > 30)
)
)
{
  
goto turn_to_ball;
}
else
{
  
stay;
}

State turn_to_ball

If that state is active,
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.walk
 >  This enumerated output symbol is set:
    motion.walk_type  = 
motion.walk_type.normal
 >  This decimal output symbol is set:
    motion.walk_speed.x  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
(ball.angle() * 2)
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 
The decision tree:
  This browser can't display the SVG file svg/option_lnw_playing_supporter_state_turn_to_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 (
(ball.was_seen() )
&& 
(abs( ball.angle() ) < 10)
)
{
  
goto ball_found;
}
else
{
  
/** */
if (
(
!(ball.was_seen() )
)
&& 
(ball.time_since_last_seen() > 300)
)
{
  
goto search_ball;
}
else
{
  
stay;
}
}

State search_ball

If that state is active,
 >  The option search_ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_lnw_playing_supporter_state_search_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 ( ball.was_seen() )
{
  
goto turn_to_ball;
}
else
{
  
stay;
}