Head Control SymbolsSymbols which are used for controlling the head movement. The formalized behavior references a variety of input and output symbols, which can stand for variables or functions of the agent's software. Constants are constant decimal values. EnumerationsName | Elements | Internal | Description | head.control_mode | head.control_mode.none head.control_mode.look_straight_ahead head.control_mode.look_down head.control_mode.search_for_landmarks head.control_mode.search_for_ball head.control_mode.grab_ball head.control_mode.stay_as_forced head.control_mode.goalie_head_control head.control_mode.defender_head_control head.control_mode.search_for_landmarks_and_ball head.control_mode.search_for_landmarks_obstacle_challenge head.control_mode.search_for_middle_circle
| true | The head motion control modes. This specifies how behavior should be moving the head. |
Name | Type | Measure | Description / Parameters | head.position_reached | boolean | true/ false | whether the desired head position has been reached. | | | head.look_at_point.neck_tilt | decimal | | the head joint angles required for looking towards a given robot-relative position. | | Parameter | Type | Measure | Range | Description | head.look_at_point.neck_tilt.x | decimal | | mm | the robot relative x coordinate of the position to look at | head.look_at_point.neck_tilt.y | decimal | | mm | the robot relative y coordinate of the position to look at | head.look_at_point.neck_tilt.z | decimal | | mm | the robot relative z coordinate of the position to look at | head.look_at_point.neck_tilt.offset_in_image.x | decimal | | pixel | the pixel offset in the image in x direction | head.look_at_point.neck_tilt.offset_in_image.y | decimal | | pixel | the pixel offset in the image in y direction |
| head.look_at_point.head_pan | decimal | | | | Parameter | Type | Measure | Range | Description | head.look_at_point.head_pan.x | decimal | | mm | the robot relative x coordinate of the position to look at | head.look_at_point.head_pan.y | decimal | | mm | the robot relative y coordinate of the position to look at | head.look_at_point.head_pan.z | decimal | | mm | the robot relative z coordinate of the position to look at | head.look_at_point.head_pan.offset_in_image.x | decimal | | pixel | the pixel offset in the image in x direction | head.look_at_point.head_pan.offset_in_image.y | decimal | | pixel | the pixel offset in the image in y direction |
| head.look_at_point.head_tilt | decimal | | | | Parameter | Type | Measure | Range | Description | head.look_at_point.head_tilt.x | decimal | | mm | the robot relative x coordinate of the position to look at | head.look_at_point.head_tilt.y | decimal | | mm | the robot relative y coordinate of the position to look at | head.look_at_point.head_tilt.z | decimal | | mm | the robot relative z coordinate of the position to look at | head.look_at_point.head_tilt.offset_in_image.x | decimal | | pixel | the pixel offset in the image in x direction | head.look_at_point.head_tilt.offset_in_image.y | decimal | | pixel | the pixel offset in the image in y direction |
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Output SymbolsName | Type | Measure | Internal | Description | head.control_mode | enumerated | head.control_mode | true | |
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