In the state machines specified here, most transitions can be caused by method calls and all transitions can be caused by internal decisions of the vision system. We call these “automatic” transitions.

In the state diagrams describing the state machines in the following sections, all transitions are shown individually. Transitions caused by methods are shown in black with the method name as the UML transition trigger. “Automatic” transitions are shown in orange without a trigger.

Upon entry into a new state, a StateChanged Event will be triggered indicating the transition.

Some transitions may trigger extra events. These events are shown in the state diagrams on the transition as a UML effect, preceded by a “/”.

Some transitions may depend on conditions. Where they are semantically important, they have been put into the state diagrams as UML guards in “[]”.