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Behavior Documentation


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>Basic Behaviors
>Options
   >>  walk_and_look_around_tester
        >>>  before_stand
        >>>  stand
        >>>  walk_straight
        >>>  stand_and_look_around
        >>>  walk_straight_and_look_around

Option walk_and_look_around_tester

State Machine

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



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

State before_stand

If that state is active,
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.stand
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  This decimal output symbol is set:
    head.speed  = 
300
 >  This decimal output symbol is set:
    head.neck_tilt  = 
0
 >  This decimal output symbol is set:
    head.head_pan  = 
0
 >  This decimal output symbol is set:
    head.head_tilt  = 
0
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_and_look_around_tester_state_before_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 ( state_time > 300)
{
  
goto stand;
}
else
{
  
stay;
}

State stand

If that state is active,
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.stand
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.stay_as_forced
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_and_look_around_tester_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 (
(switch.head_button_pressed() )
&& 
(state_time > 300)
)
{
  
goto walk_straight;
}
else
{
  
/** */
if (
(switch.middle_back_button_pressed() )
&& 
(state_time > 300)
)
{
  
goto stand_and_look_around;
}
else
{
  
stay;
}
}

State walk_straight

If that state is active,
 >  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  = 
250
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
0
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.stay_as_forced
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_and_look_around_tester_state_walk_straight.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 (
(switch.head_button_pressed() )
&& 
(state_time > 300)
)
{
  
goto stand;
}
else
{
  
/** */
if (
(switch.middle_back_button_pressed() )
&& 
(state_time > 300)
)
{
  
goto walk_straight_and_look_around;
}
else
{
  
stay;
}
}

State stand_and_look_around

If that state is active,
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.stand
 >  The option search_for_landmarks is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_and_look_around_tester_state_stand_and_look_around.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 (
(switch.head_button_pressed() )
&& 
(state_time > 300)
)
{
  
goto walk_straight_and_look_around;
}
else
{
  
/** */
if (
(switch.middle_back_button_pressed() )
&& 
(state_time > 300)
)
{
  
goto stand;
}
else
{
  
stay;
}
}

State walk_straight_and_look_around

If that state is active,
 >  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  = 
250
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
0
 >  The option search_for_landmarks is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_and_look_around_tester_state_walk_straight_and_look_around.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 (
(switch.head_button_pressed() )
&& 
(state_time > 300)
)
{
  
goto stand_and_look_around;
}
else
{
  
/** */
if (
(switch.middle_back_button_pressed() )
&& 
(state_time > 300)
)
{
  
goto walk_straight;
}
else
{
  
stay;
}
}