>xabsl
Behavior Documentation
>
Index
>Agents
>Symbols
>Basic Behaviors
>Options
>> turn_to_ball
>>>
turn
>>>
finished
Option turn_to_ball
Turn towards the last seen ball position. Do not turn if ball is very close.
State Machine
This browser can't display the SVG file
svg/option_turn_to_ball.svg
.
The
Adobe SVG Viewer 3.0
can be downloaded from
http://www.adobe.com/svg/viewer/install/main.html
State turn
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.walk
>
This enumerated output symbol is set:
motion.walk_type
=
motion.walk_type.normal
>
This decimal output symbol is set:
motion.walk_speed.x
=
0
>
This decimal output symbol is set:
motion.walk_speed.y
=
0
>
This decimal output symbol is set:
motion.walk_speed.rot
=
ball.angle
()
>
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_turn_to_ball_state_turn.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
(
abs
(
ball.angle
()
)
< 15
)
{
goto
finished
;
}
else
{
/** */
if
(
ball.distance
()
< 200
)
{
goto
finished
;
}
else
{
/** */
if
(
true
)
{
goto
turn
;
}
else
{
stay;
}
}
}
State finished
This state is a target state.
If that state is active,
>
This enumerated output symbol is set:
motion.type
=
motion.type.stand
The decision tree:
This browser can't display the SVG file
svg/option_turn_to_ball_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
(
abs
(
ball.angle
()
)
< 15
)
{
goto
finished
;
}
else
{
/** */
if
(
ball.distance
()
< 200
)
{
goto
finished
;
}
else
{
/** */
if
(
true
)
{
goto
turn
;
}
else
{
stay;
}
}
}