OUR in dsd Tree for all secondaryStateDeciders

Author: cleWu03

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd

@@ -104,31 +104,12 @@ $DoOnce
                 OUR --> #SearchBall
                 OTHER --> @AvoidBallActive, @LookAtFieldFeatures, @WalkInPlace + duration:2, @GoToRelativePosition + x:1 + y:0 + t:0, @Stand
             YES --> $SecondaryStateDecider
-                CORNER_KICK --> $SecondaryStateTeamDecider
-                    OUR --> $RankToBallNoGoalie
-                        FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToCornerKickPosition + mode:striker
-                        SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToCornerKickPosition + mode:supporter
-                        THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
-                    OTHER --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToCornerKickPosition + mode:others
-                THROW_IN --> $SecondaryStateTeamDecider
-                    OUR --> $RankToBallNoGoalie
-                        FIRST --> $DoOnce
-                            NOT_DONE --> @ChangeAction + action:going_to_ball, @LookAtFieldFeatures, @AvoidBallActive, @GoToBall + target:gradient + distance:0.3 + blocking:false
-                            DONE --> $ReachedAndAlignedToPathPlanningGoalPosition + threshold:0.03 + latch:true
-                                NO --> @GoToBall + target:gradient + distance:0.3
-                                YES --> @LookForward, @ChangeAction + action:kicking, @Stand + duration:1.5 + r:false, @PlayAnimationDynup + direction:descend_no_arms, @PlayAnimationGrabBall + r:false, @PlayAnimationDynup + direction:rise_no_arms, @PlayAnimationThrow + r:false, @GetWalkready + r:false, @Stand
-                        SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToPassPreparePosition
-                        THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
-                    OTHER --> $RankToBallNoGoalie
+                CORNER_KICK -->  @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToCornerKickPosition + mode:others
+                THROW_IN --> $RankToBallNoGoalie
                         FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first
                         SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
                         THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
-                ELSE --> $SecondaryStateTeamDecider
-                    OUR --> $RankToBallNoGoalie
-                        FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToBall + target:gradient + distance:0.5
-                        SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToPassPreparePosition
-                        THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
-                    OTHER --> $RankToBallNoGoalie
+                ELSE --> $RankToBallNoGoalie
                         FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first
                         SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
                         THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
@@ -181,10 +162,20 @@ $IsPenalized
         PLAYING --> $SecondaryStateDecider
             PENALTYSHOOT --> #PenaltyShootoutBehavior
             TIMEOUT --> #StandAndLook
+<<<<<<< HEAD
             ELSE --> $SecondaryStateModeDecider
                 ELSE --> #StandAndLook
                 PLACING --> #Placing
+||||||| parent of 5e668ed2f (OUR in dsd Tree for all secondaryStateDeciders)
+            ELSE --> $SecondaryStateTeamDecider
+                OWN --> #NormalBehavior //Nutzt immer normalBehaviour wenn wir die aktion ausführen, könnte man spezifischeres Verhalten definieren
+                OTHER --> #Placing
+=======
+            ELSE --> $SecondaryStateTeamDecider
+                OUR --> #NormalBehavior //Nutzt immer normalBehaviour wenn wir die aktion ausführen, könnte man spezifischeres Verhalten definieren
+                OTHER --> #Placing
+>>>>>>> 5e668ed2f (OUR in dsd Tree for all secondaryStateDeciders)
             NORMAL --> #NormalBehavior
             OVERTIME --> #NormalBehavior
         STANDBY --> #StandAndLook
-            
+