<html><head><meta name="color-scheme" content="light dark"></head><body><pre style="word-wrap: break-word; white-space: pre-wrap;">%-------------------------------------------------------------------------
\newpage \subsection*{Parameter Summary for BHV\_Loiter}
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\begin{table}[ht]
\begin{minipage}[c]{1.0\textwidth}
  \centering
  \mbox{
  \footnotesize
  \begin{tabular}{|l|l|l|c|l|r|} \hline Parameter &amp; Argument Type &amp;
    Example &amp; Case-Sensitive &amp; Default &amp; Page \\ \hline \hline
    \input{behaviors/apx_params_general}
    acquire\_dist &amp; double &amp; \vvar{15}    &amp;  -  &amp; \vvar{10}    &amp; \pageref{sec_loiter_acquire_param}       \\
    capture\_radius &amp; double &amp; \vvar{10}    &amp;  -  &amp; \vvar{0}     &amp; \pageref{sec_loiter_radius_params}      \\
    center\_activate &amp; Boolean &amp; \var{true} &amp; no &amp; \var{false} &amp; \pageref{sec_loiter_updates} \\
    center\_assign   &amp; string &amp; present\_position &amp; no &amp; - &amp; \pageref{sec_loiter_updates} \\
    clockwise     &amp; Boolean string &amp; \vvar{FALSE} &amp;  no &amp; \vvar{true}  &amp; \pageref{sec_loiter_clockwise}   \\
    polygon       &amp; string &amp; \vvar{0,0:45,0:45,80:0,80:0,0} &amp; yes &amp; - &amp; \pageref{sec_loiter_poly} \\
    post\_suffix &amp; string &amp; \vvar{REGION-1}&amp; yes &amp; \vvar{""} &amp; \pageref{sec_loiter_suffix_param} \\ 
    speed         &amp; double &amp; \vvar{1.5}   &amp;  -  &amp; \vvar{0}     &amp; \pageref{sec_loiter_speed_param}       \\
    slip\_radius  &amp; double [0,100] &amp; \vvar{25}    &amp;  -  &amp; \vvar{0}     &amp; \pageref{sec_loiter_radius_params} \\
    spiral\_factor  &amp; double &amp; \vvar{45}    &amp;  -  &amp; \vvar{99}     &amp; \pageref{sec_loiter_spiral_param}       \\
    visual\_hints   &amp; string &amp; \vvar{edge\_size=1} &amp;  no    &amp; -     &amp; \pageref{sec_loiter_visual_hints}  \\ 
    xcenter\_assign &amp; double &amp; \vvar{20} &amp; no &amp; - &amp; \pageref{sec_loiter_updates} \\
    ycenter\_assign &amp; double &amp; \vvar{25} &amp; no &amp; - &amp; \pageref{sec_loiter_updates} \\ \hline
  \end{tabular}
  \normalsize}
\end{minipage}
\caption{Parameters for the BHV\_Loiter behavior.}
\label{table_bparams_loiter}
\end{table}

\subsection*{Example Behavior File Configuration for  BHV\_Loiter}

\refstepcounter{alisting}
\vspace{0.1in}
\noindent
{\em {Listing \thesection.\arabic{alisting} - An example BHV\_Loiter configuration.}}
\label{bhv_loiter_block}
\scriptsize
\begin{verbatim}
 0  Behavior = BHV_Loiter
 1  {
 2    name     = loiter_alpha
 3    pwt      = 100
 4    duration = 3600 // One hour
 5    updates  = LOITER_ALPHA_UPDATES
 7
 8           polygon = radial:100,-100,80,12
 9             speed = 3.0
10    capture_radius = 8.0
11       slip_radius = 16.0
12         clockwise = true
13       aquire_dist = 25
14     center_assign = present_position
14  }
\end{verbatim}
\normalsize
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