>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  search_for_landmarks_obstacle_challenge
        >>>  decide_start
        >>>  left
        >>>  right
        >>>  center_from_left
        >>>  center_from_right

Option search_for_landmarks_obstacle_challenge

Scan mode for scanning for beacons, goals and to read headPSD Sensor-data for new obstacle avoidance challenge

State Machine

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



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

State decide_start

If that state is active,
 
The decision tree:
  This browser can't display the SVG file svg/option_search_for_landmarks_obstacle_challenge_state_decide_start.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 ( head.executed_head_pan() > 0)
{
  
goto left;
}
else
{
  
goto right;
}

State left

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.neck_tilt  = 
0
 >  This decimal output symbol is set:
    head.head_pan  = 
90
 >  This decimal output symbol is set:
    head.head_tilt  = 
0
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_search_for_landmarks_obstacle_challenge_state_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 ( head.position_reached() )
{
  
goto center_from_left;
}
else
{
  
stay;
}

State right

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.neck_tilt  = 
0
 >  This decimal output symbol is set:
    head.head_pan  = 
-90
 >  This decimal output symbol is set:
    head.head_tilt  = 
0
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_search_for_landmarks_obstacle_challenge_state_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 ( head.position_reached() )
{
  
goto center_from_right;
}
else
{
  
stay;
}

State center_from_left

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.neck_tilt  = 
-45
 >  This decimal output symbol is set:
    head.head_pan  = 
0
 >  This decimal output symbol is set:
    head.head_tilt  = 
40
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_search_for_landmarks_obstacle_challenge_state_center_from_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 ( head.position_reached() )
{
  
goto right;
}
else
{
  
stay;
}

State center_from_right

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.neck_tilt  = 
-45
 >  This decimal output symbol is set:
    head.head_pan  = 
0
 >  This decimal output symbol is set:
    head.head_tilt  = 
40
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_search_for_landmarks_obstacle_challenge_state_center_from_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 ( head.position_reached() )
{
  
goto left;
}
else
{
  
stay;
}