>xabsl
Behavior Documentation
>
Index
>Agents
>Symbols
>Basic Behaviors
>Options
>> prepare_receive_pass
>>>
stand
>>>
home
Option prepare_receive_pass
State Machine
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svg/option_prepare_receive_pass.svg
.
The
Adobe SVG Viewer 3.0
can be downloaded from
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State stand
This state is a target state.
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_prepare_receive_pass_state_stand.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
(
(
selfloc.distance_to
(
passing_challenge.position.x
(
game.player_number
()
) ,
passing_challenge.position.y
(
game.player_number
()
)
)
> 500
)
||
(
abs
(
selfloc.angle_to
(
passing_challenge.position.x
(
passing_challenge.sender_number
()
) ,
passing_challenge.position.y
(
passing_challenge.sender_number
()
)
)
)
> 25
)
)
{
goto
home
;
}
else
{
stay;
}
State home
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_smart
is executed. Parameters:
go_to_point_smart.x
=
passing_challenge.position.x
(
game.player_number
()
) ;
go_to_point_smart.y
=
passing_challenge.position.y
(
game.player_number
()
) ;
go_to_point_smart.angle
=
(
robot_pose.angle
()
+
selfloc.angle_to
(
passing_challenge.position.x
(
passing_challenge.sender_number
()
) ,
passing_challenge.position.y
(
passing_challenge.sender_number
()
)
) )
;
The decision tree:
This browser can't display the SVG file
svg/option_prepare_receive_pass_state_home.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
(
action_done
)
{
goto
stand
;
}
else
{
stay;
}