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tutorials:intermediate:performing_plans [2018/05/15 14:56] – gkazhoya | tutorials:intermediate:performing_plans [2022/03/30 21:26] – [Plan goals] schimpf | ||
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- | ====== Performing | + | ====== Performing |
===== Basic functionality ===== | ===== Basic functionality ===== | ||
Line 8: | Line 8: | ||
<code lisp> | <code lisp> | ||
- | CL-USER> (ros-load: | + | CL-USER> (ros-load: |
- | ;; or ,r-l-s RET cram_plan_library | + | ;; or ,r-l-s RET cram_executive |
</ | </ | ||
Line 15: | Line 15: | ||
<code lisp> | <code lisp> | ||
- | CL-USER> (cpl: | + | CL-USER> (cpl: |
- | | + | |
+ | | ||
</ | </ | ||
Line 22: | Line 23: | ||
<code lisp> | <code lisp> | ||
- | CL-USER> (prolog: | + | CL-USER> (prolog: |
- | | + | |
- | | + | (desig: |
- | | + | (desig: |
</ | </ | ||
Line 34: | Line 35: | ||
<code lisp> | <code lisp> | ||
CL-USER> (cpl: | CL-USER> (cpl: | ||
- | (plan-lib:perform (desig:an action (to eat) (yummy pizza)))) | + | (exe:perform (desig:an action (to eat) (yummy pizza)))) |
hmmm... nomnomnom... PIZZA | hmmm... nomnomnom... PIZZA | ||
+ | NIL | ||
+ | #<A ACTION | ||
+ | (TO EAT) | ||
+ | (YUMMY PIZZA)> | ||
</ | </ | ||
Line 44: | Line 49: | ||
<code lisp> | <code lisp> | ||
CL-USER> (cpl: | CL-USER> (cpl: | ||
- | (plan-lib:perform (desig:an action (to eat) (yummy pizza) (goal (object-eaten pizza))))) | + | (exe:perform (desig:an action (to eat) (yummy pizza) (goal (object-eaten pizza))))) |
WARNING: | WARNING: | ||
| | ||
Line 62: | Line 67: | ||
CL-USER> (defparameter *pizza-eaten-p* nil) | CL-USER> (defparameter *pizza-eaten-p* nil) | ||
*PIZZA-EATEN-P* | *PIZZA-EATEN-P* | ||
- | CL-USER> (cpl: | + | CL-USER> (cpl: |
- | | + | |
+ | | ||
(setf *pizza-eaten-p* t)) | (setf *pizza-eaten-p* t)) | ||
- | STYLE-WARNING: | + | ; in: CRAM-LANGUAGE-IMPLEMENTATION: |
+ | ; (TYPE (OR STRING NULL) ?YUMMY) | ||
+ | ; | ||
+ | ; caught | ||
+ | ; | ||
+ | ; | ||
+ | ; compilation unit finished | ||
+ | ; | ||
+ | ; ? | ||
+ | ; | ||
EAT | EAT | ||
CL-USER> (prolog: | CL-USER> (prolog: | ||
- | | + | |
| | ||
| | ||
Line 79: | Line 94: | ||
<code lisp> | <code lisp> | ||
PLAN-LIB> | PLAN-LIB> | ||
- | (plan-lib:perform (desig:an action (to eat) (yummy pizza) (goal (object-eaten pizza))))) | + | (exe:perform (desig:an action (to eat) (yummy pizza) (goal (object-eaten pizza))))) |
hmmm... nomnomnom... PIZZA | hmmm... nomnomnom... PIZZA | ||
NIL | NIL |