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doc:migration_guide [2016/03/04 13:49] – gkazhoyadoc:migration_guide [2016/03/04 14:31] (current) – old revision restored (2016/02/09 19:12) gkazhoya
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 == Step 3: designator properties as keywords == == Step 3: designator properties as keywords ==
  
-Search for all ''make-designator'', ''with-designators'' and ''(desig-prop ?'' calls in all your Lisp files and change the designator properties there from simple symbols to keywords, e.g. '' 'on'' should become '':on''. Also, search for all ''desig-props'' in all your Lisp files and get rid of them, e.g.+Search for all ''make-designator'' and ''with-designators'' and change the type of the designator from simple symbol to a keyword, e.g.  
 +<code lisp> 
 +(make-designator 'location '((on table))) 
 +</code> 
 +should turn into 
 +<code lisp> 
 +(make-designator :location '((on table))) 
 +</code> 
 + 
 +Next search for all ''make-designator'', ''with-designators'' and ''(desig-prop ?'' calls in all your Lisp files and change the designator properties there from simple symbols to keywords, e.g. '' 'on'' should become '':on''. Also, search for all ''desig-props'' in all your Lisp files and get rid of them, e.g.
 <code lisp> <code lisp>
 (desig-prop ?designator (desig-props:to desig-props:see)) (desig-prop ?designator (desig-props:to desig-props:see))
Line 50: Line 59:
 <code lisp> <code lisp>
 (with-designators (with-designators
-   ((open-loc ('location `((:to :open) (:to :reach)+   ((open-loc (:location `((:to :open) (:to :reach)
                            (:obj ,?obj)))) ; <- 4 brackets in the end                            (:obj ,?obj)))) ; <- 4 brackets in the end
-    (open-action ('action `((:type :trajectory)+    (open-action (:action `((:type :trajectory)
                             (:to :open) (:obj ,?obj)                             (:to :open) (:obj ,?obj)
                             (:angle ,?angle)))))                             (:angle ,?angle)))))
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 <code lisp> <code lisp>
 (with-designators (with-designators
-   ((open-loc 'location `((:to :open) (:to :reach)+   ((open-loc :location `((:to :open) (:to :reach)
                           (:obj ,?obj))) ; <- 3 brackets in the end                           (:obj ,?obj))) ; <- 3 brackets in the end
-    (open-action 'action `((:type :trajectory)+    (open-action :action `((:type :trajectory)
                            (:to :open) (:obj ,?obj)                            (:to :open) (:obj ,?obj)
                            (:angle ,?angle))))                            (:angle ,?angle))))
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 <code lisp> <code lisp>
 (with-designators (with-designators
-  ((some-location 'location '((:some :where)))))+  ((some-location :location '((:some :where)))))
 </code> </code>
 <code lisp> <code lisp>
-   (make-designator 'location '((:some :where)))+   (make-designator :location '((:some :where)))
 </code> </code>
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