>xabsl
Behavior Documentation
>
Index
>Agents
>Symbols
>Basic Behaviors
>Options
>> localize
>>>
finished
>>>
wait_for_landmark
>>>
wait_for_valid_pose
>>>
localize
>>>
grabbed
>>>
after_grab
Option localize
Wait until robot has seen landmark in order to localize
State Machine
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svg/option_localize.svg
.
The
Adobe SVG Viewer 3.0
can be downloaded from
http://www.adobe.com/svg/viewer/install/main.html
State finished
This state is a target state.
If that state is active,
The decision tree:
This browser can't display the SVG file
svg/option_localize_state_finished.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
(
strategy.ball_is_grabbed
)
{
goto
grabbed
;
}
else
{
/** */
if
(
!(
robot_pose.is_valid
()
)
)
{
goto
wait_for_valid_pose
;
}
else
{
/** */
if
(
selfloc.time_since_last_seen_two_landmarks
()
> 8000
)
{
goto
wait_for_landmark
;
}
else
{
stay;
}
}
}
State wait_for_landmark
If that state is active,
>
The option
turn_for_landmarks
is executed.
The decision tree:
This browser can't display the SVG file
svg/option_localize_state_wait_for_landmark.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
(
strategy.ball_is_grabbed
)
{
goto
grabbed
;
}
else
{
/** */
if
(
!(
robot_pose.is_valid
()
)
)
{
goto
wait_for_valid_pose
;
}
else
{
/** */
if
(
selfloc.time_since_last_seen_two_landmarks
()
< 1000
)
{
goto
localize
;
}
else
{
stay;
}
}
}
State wait_for_valid_pose
If that state is active,
>
The option
turn_for_landmarks
is executed.
The decision tree:
This browser can't display the SVG file
svg/option_localize_state_wait_for_valid_pose.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
(
strategy.ball_is_grabbed
)
{
goto
grabbed
;
}
else
{
/** */
if
(
robot_pose.is_valid
()
)
{
goto
finished
;
}
else
{
stay;
}
}
State localize
If that state is active,
>
This enumerated output symbol is set:
head.control_mode
=
head.control_mode.search_for_landmarks
>
This enumerated output symbol is set:
motion.type
=
motion.type.stand
>
This decimal output symbol is set:
strategy.destination.x
=
robot_pose.x
()
>
This decimal output symbol is set:
strategy.destination.y
=
robot_pose.y
()
The decision tree:
This browser can't display the SVG file
svg/option_localize_state_localize.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
(
strategy.ball_is_grabbed
)
{
goto
grabbed
;
}
else
{
/** */
if
(
state_time
> 2000
)
{
goto
finished
;
}
else
{
stay;
}
}
State grabbed
If that state is active,
The decision tree:
This browser can't display the SVG file
svg/option_localize_state_grabbed.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
(
strategy.ball_is_grabbed
)
{
goto
grabbed
;
}
else
{
goto
after_grab
;
}
State after_grab
If that state is active,
The decision tree:
This browser can't display the SVG file
svg/option_localize_state_after_grab.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
(
strategy.ball_is_grabbed
)
{
goto
grabbed
;
}
else
{
/** */
if
(
state_time
< 1000
)
{
stay;
}
else
{
goto
finished
;
}
}