>xabsl
Behavior Documentation


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>Options
   >>  look_at_point
        >>>  look_at_point

Option look_at_point

lets the robot look at a specific point

Parameters of that option:
ParameterTypeMeasureRangeDescription
look_at_point.xdecimalthe robot relative x coordinate of the position to look at
look_at_point.ydecimalthe robot relative y coordinate of the position to look at
look_at_point.zdecimalthe robot relative z coordinate of the position to look at
look_at_point.offset_in_image.xdecimalpixelthe pixel offset in the image in X direction
look_at_point.offset_in_image.ydecimalpixelthe pixel offset in the image in y direction

State Machine

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



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

State look_at_point

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  This decimal output symbol is set:
    head.speed  = 
500
 >  This decimal output symbol is set:
    head.neck_tilt  = 
head.look_at_point.neck_tilt( @look_at_point.x , @look_at_point.y , @look_at_point.z , @look_at_point.offset_in_image.x , @look_at_point.offset_in_image.y )
 >  This decimal output symbol is set:
    head.head_pan  = 
head.look_at_point.head_pan( @look_at_point.x , @look_at_point.y , @look_at_point.z , @look_at_point.offset_in_image.x , @look_at_point.offset_in_image.y )
 >  This decimal output symbol is set:
    head.head_tilt  = 
head.look_at_point.head_tilt( @look_at_point.x , @look_at_point.y , @look_at_point.z , @look_at_point.offset_in_image.x , @look_at_point.offset_in_image.y )
 
The decision tree:
  This browser can't display the SVG file svg/option_look_at_point_state_look_at_point.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;