Examples 2

 

These examples demonstrate the possibilities of 'dot' and DotML. Below each graph the DotML source code is listed. Click on the element and attribute names to get a documentation.

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The charts were generated automatically from a XABSL document using XSLT.

Example 1/2:
Source code:
<graph file-name="graphs/example_xabsl_option1" ranksep="0.3" nodesep="0.2">
  
<cluster id="option" label="option handle-ball-at-left-and-right-border" fontname="Arial" fontcolor="#005A9C" fontsize="11" fillcolor="#F4F4F4" style="filled">
  
<sub-graph rank="same">
  
<node label="go\nto\nball" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" fontname="Arial" id="state_go_to_ball" shape="Mcircle"/>
</sub-graph>
<sub-graph rank="same">
  
<node label="turn\naround\nball" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" fontname="Arial" id="state_turn_around_ball" shape="circle"/>
<node label="do\narm\nkick" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" fontname="Arial" id="state_do_arm_kick" shape="circle"/>
<node label="do\nsideward\nkick" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" fontname="Arial" id="state_do_sideward_kick" shape="circle"/>
</sub-graph>
<edge from="state_go_to_ball" to="state_do_sideward_kick"/>
<edge from="state_go_to_ball" to="state_turn_around_ball"/>
<edge from="state_go_to_ball" to="state_do_arm_kick"/>
<edge from="state_go_to_ball" to="state_go_to_ball"/>
<edge from="state_turn_around_ball" to="state_do_sideward_kick"/>
<edge from="state_turn_around_ball" to="state_do_arm_kick"/>
<edge from="state_turn_around_ball" to="state_turn_around_ball"/>
<edge from="state_do_arm_kick" to="state_go_to_ball"/>
<edge from="state_do_arm_kick" to="state_do_arm_kick"/>
<edge from="state_do_sideward_kick" to="state_go_to_ball"/>
<edge from="state_do_sideward_kick" to="state_do_sideward_kick"/>
</cluster>
<cluster id="option_tree" color="#FFFFFF">
  
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" shape="box" style="filled" fillcolor="#FFFFFF" id="option_approach_close_ball" label="approach\nclose\nball"/>
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" shape="box" style="filled" fillcolor="#FFFFFF" id="option_turn_for_ball" label="turn\nfor\nball"/>
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" shape="box" style="filled" fillcolor="#FFFFFF" id="option_do_arm_kick" label="do\narm\nkick"/>
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" shape="box" style="filled" fillcolor="#FFFFFF" id="option_do_sideward_kick" label="do\nsideward\nkick"/>
<sub-graph rank="sink">
  
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" id="basic_behavior_cont_turn_to_ball" label="cont\nturn\nto\nball"/>
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" id="basic_behavior_stand" label="stand"/>
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" id="basic_behavior_walk" label="walk"/>
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" id="basic_behavior_cont_turn" label="cont\nturn"/>
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" id="basic_behavior_go_to_ball" label="go\nto\nball"/>
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" id="basic_behavior_special_action" label="special\naction"/>
</sub-graph>
<edge arrowsize="0.8" color="#808080" from="option_approach_close_ball" to="option_turn_for_ball"/>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_approach_close_ball" to="basic_behavior_go_to_ball"/>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_turn_for_ball" to="basic_behavior_cont_turn_to_ball"/>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_turn_for_ball" to="basic_behavior_stand"/>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_turn_for_ball" to="basic_behavior_walk"/>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_turn_for_ball" to="basic_behavior_cont_turn"/>
<edge arrowsize="0.8" color="#808080" from="option_do_arm_kick" to="option_approach_close_ball"/>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_do_arm_kick" to="basic_behavior_walk"/>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_do_arm_kick" to="basic_behavior_special_action"/>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_do_arm_kick" to="basic_behavior_stand"/>
<edge arrowsize="0.8" color="#808080" from="option_do_sideward_kick" to="option_approach_close_ball"/>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_do_sideward_kick" to="basic_behavior_walk"/>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_do_sideward_kick" to="basic_behavior_special_action"/>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_do_sideward_kick" to="basic_behavior_stand"/>
<edge arrowsize="0.8" color="#808080" style="dashed" minlen="3" from="state_turn_around_ball" to="basic_behavior_walk"/>
<edge minlen="2" arrowsize="0.8" color="#808080" style="dashed" from="state_go_to_ball" to="option_approach_close_ball"/>
<edge minlen="2" arrowsize="0.8" color="#808080" style="dashed" from="state_do_arm_kick" to="option_do_arm_kick"/>
<edge minlen="2" arrowsize="0.8" color="#808080" style="dashed" from="state_do_sideward_kick" to="option_do_sideward_kick"/>
</cluster>
</graph>
Example 2/2:
Source code:
<graph file-name="graphs/example_xabsl_option2" ranksep="0.3" nodesep="0.2">
  
<cluster id="option" label="option go-to-kickoff-position" fontname="Arial" fontcolor="#005A9C" fontsize="11" fillcolor="#F4F4F4" style="filled">
  
<sub-graph rank="same">
  
<node label="localize" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" fontname="Arial" id="state_localize" shape="Mcircle"/>
</sub-graph>
<sub-graph rank="same">
  
<node label="turn" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" fontname="Arial" id="state_turn" shape="circle"/>
<node label="go" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" fontname="Arial" id="state_go" shape="circle"/>
<node label="dont\nmove" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" fontname="Arial" id="state_dont_move" shape="circle"/>
</sub-graph>
<edge from="state_localize" to="state_localize"/>
<edge from="state_localize" to="state_dont_move"/>
<edge from="state_localize" to="state_turn"/>
<edge from="state_localize" to="state_go"/>
<edge from="state_turn" to="state_localize"/>
<edge from="state_turn" to="state_dont_move"/>
<edge from="state_turn" to="state_turn"/>
<edge from="state_go" to="state_dont_move"/>
<edge from="state_go" to="state_go"/>
<edge from="state_dont_move" to="state_localize"/>
<edge from="state_dont_move" to="state_dont_move"/>
</cluster>
<cluster id="option_tree" color="#FFFFFF">
  
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" shape="box" style="filled" fillcolor="#FFFFFF" id="option_get_to_position_and_avoid_obstacles" label="get\nto\nposition\nand\navoid\nobstacles"/>
<sub-graph rank="sink">
  
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" id="basic_behavior_go_to_point" label="go\nto\npoint"/>
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" id="basic_behavior_cont_go_forward_to_point" label="cont\ngo\nforward\nto\npoint"/>
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" id="basic_behavior_stand" label="stand"/>
<node fontname="Arial" fontcolor="#005A9C" fontsize="11" style="filled" fillcolor="#FFFFFF" id="basic_behavior_walk" label="walk"/>
</sub-graph>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_get_to_position_and_avoid_obstacles" to="basic_behavior_go_to_point"/>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_get_to_position_and_avoid_obstacles" to="basic_behavior_cont_go_forward_to_point"/>
<edge arrowsize="0.8" color="#808080" minlen="3" from="option_get_to_position_and_avoid_obstacles" to="basic_behavior_stand"/>
<edge arrowsize="0.8" color="#808080" style="dashed" minlen="3" from="state_localize" to="basic_behavior_stand"/>
<edge arrowsize="0.8" color="#808080" style="dashed" minlen="3" from="state_turn" to="basic_behavior_walk"/>
<edge arrowsize="0.8" color="#808080" style="dashed" minlen="3" from="state_dont_move" to="basic_behavior_stand"/>
<edge minlen="2" arrowsize="0.8" color="#808080" style="dashed" from="state_go" to="option_get_to_position_and_avoid_obstacles"/>
</cluster>
</graph>
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 Copyright 2002-2010 by Martin Loetzsch (http://martin-loetzsch.de), all rights reserved. See the DotML licence for details.