assigned the portions

documentation/Seif/balign.tex

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+\section{Ball Alignment}
+
+Now that the ball and the goal are aligned, the robot has to move into a
+position, from which the kick can be performed. Depending on the situation, it
+may be feasible to select the foot, with which the kick should be performed,
+but due to time constraints we programmed the robot to kick with the left foot
+only. So, the task now is to place the ball in front of the left foot. We
+realized, that when the ball is in the correct position, then its image in the
+lower camera should be within a certain region. We experimentally determined
+the extents of this region, which is schematically presented in figure \ref{p
+  figure ball-alignment}. The algorithm therefore is for the robot to gradually
+adjust its position in small steps, until the ball image reaches the target,
+after which the robot will proceed with the kick. Our tests have shown, that
+this method while being relatively simple, works sufficiently robust, which
+means that we didn't have the situations, when the robot missed the ball after
+alignment or even hit the ball with an edge of the foot.
+
+\begin{figure}[ht]
+  \includegraphics[width=\textwidth]{\fig ball-align}
+  \caption{Ball alignment}
+  \label{p figure ball-alignment}
+\end{figure}