>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  position_offensive_supporter_near_goal
        >>>  decide_side
        >>>  position_at_left
        >>>  position_at_right

Option position_offensive_supporter_near_goal

An offensive supporter

State Machine

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



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

State decide_side

If that state is active,
 
The decision tree:
  This browser can't display the SVG file svg/option_position_offensive_supporter_near_goal_state_decide_side.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.position.field.y() > 0)
{
  
goto position_at_right;
}
else
{
  
goto position_at_left;
}

State position_at_left

If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 >  The option go_to_point_avoid_collisions is executed. Parameters:
    go_to_point_avoid_collisions.x  =  1400 ;
    go_to_point_avoid_collisions.y  =  900 ;
    go_to_point_avoid_collisions.angle  =  (robot_pose.angle() + ball.angle() ) ;
 
The decision tree:
  This browser can't display the SVG file svg/option_position_offensive_supporter_near_goal_state_position_at_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 ( ball.position.field.y() > 100)
{
  
goto position_at_right;
}
else
{
  
stay;
}

State position_at_right

If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 >  The option go_to_point_avoid_collisions is executed. Parameters:
    go_to_point_avoid_collisions.x  =  1400 ;
    go_to_point_avoid_collisions.y  =  -900 ;
    go_to_point_avoid_collisions.angle  =  (robot_pose.angle() + ball.angle() ) ;
 
The decision tree:
  This browser can't display the SVG file svg/option_position_offensive_supporter_near_goal_state_position_at_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 ( ball.position.field.y() < -100)
{
  
goto position_at_left;
}
else
{
  
stay;
}