Head Control Symbols

Symbols 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.

Enumerations

NameElementsInternalDescription
head.control_modehead.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

trueThe head motion control modes. This specifies how behavior should be moving the head.

Input Symbols

NameTypeMeasureDescription / Parameters
head.position_reachedbooleantrue/ falsewhether the desired head position has been reached.
 
head.look_at_point.neck_tiltdecimalthe head joint angles required for looking towards a given robot-relative position.
 
ParameterTypeMeasureRangeDescription
head.look_at_point.neck_tilt.xdecimalmmthe robot relative x coordinate of the position to look at
head.look_at_point.neck_tilt.ydecimalmmthe robot relative y coordinate of the position to look at
head.look_at_point.neck_tilt.zdecimalmmthe robot relative z coordinate of the position to look at
head.look_at_point.neck_tilt.offset_in_image.xdecimalpixelthe pixel offset in the image in x direction
head.look_at_point.neck_tilt.offset_in_image.ydecimalpixelthe pixel offset in the image in y direction
head.look_at_point.head_pandecimal
 
ParameterTypeMeasureRangeDescription
head.look_at_point.head_pan.xdecimalmmthe robot relative x coordinate of the position to look at
head.look_at_point.head_pan.ydecimalmmthe robot relative y coordinate of the position to look at
head.look_at_point.head_pan.zdecimalmmthe robot relative z coordinate of the position to look at
head.look_at_point.head_pan.offset_in_image.xdecimalpixelthe pixel offset in the image in x direction
head.look_at_point.head_pan.offset_in_image.ydecimalpixelthe pixel offset in the image in y direction
head.look_at_point.head_tiltdecimal
 
ParameterTypeMeasureRangeDescription
head.look_at_point.head_tilt.xdecimalmmthe robot relative x coordinate of the position to look at
head.look_at_point.head_tilt.ydecimalmmthe robot relative y coordinate of the position to look at
head.look_at_point.head_tilt.zdecimalmmthe robot relative z coordinate of the position to look at
head.look_at_point.head_tilt.offset_in_image.xdecimalpixelthe pixel offset in the image in x direction
head.look_at_point.head_tilt.offset_in_image.ydecimalpixelthe pixel offset in the image in y direction

Output Symbols

NameTypeMeasureInternalDescription
head.control_modeenumeratedhead.control_modetrue