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| doc:migration_guide [2016/02/09 18:09] – gkazhoya | doc:migration_guide [2016/03/04 14:31] (current) – old revision restored (2016/02/09 19:12) gkazhoya |
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| ===== cram_highlevel and cram_physics ==== | ===== cram_highlevel and cram_physics ==== |
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| There were way too many changes in the higher level packages to write a comprehensive migration guide but here is a general overview. | There were way too many changes in the higher level packages to write a comprehensive migration guide but here is a general overview. (If you have your own code that uses ''cram_highlevel'' or ''cram_physics'' you are strongly advised to get in touch with [[/user/gayane_kazhoyan|Gaya]] and get her to help you with migration.) |
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| There used to be two high-level packages: ''cram_highlevel'' and ''cram_physics'', now there are four: ''cram_plans'', ''cram_semantic_maps'', ''cram_3d_world'', ''cram_costmaps''. The functionality that used semantic environment maps from KnowRob in ''cram_highlevel'' got separated into ''cram_semantic_maps'' such that if you only want, say the plan library, you wouldn't have to download the whole semantic map business and have to compile that. The same with the specific costmaps that were in ''cram_physics'', they are now in ''cram_costmaps'', also PR2-specific code of ''cram_physics'' went to ''cram_pr2''. | There used to be two high-level packages: ''cram_highlevel'' and ''cram_physics'', now there are four: ''cram_plans'', ''cram_semantic_maps'', ''cram_3d_world'', ''cram_costmaps''. The functionality that used semantic environment maps from KnowRob in ''cram_highlevel'' got separated into ''cram_semantic_maps'' such that if you only want, say the plan library, you wouldn't have to download the whole semantic map business and have to compile that. The same with the specific costmaps that were in ''cram_physics'', they are now in ''cram_costmaps'', also PR2-specific code of ''cram_physics'' went to ''cram_pr2''. |
| There is a tutorial on how you can use the semantic environment maps with minimal dependencies in your own code [[http://cram-system.org/tutorials/intermediate/semantic_environment_map|here]]. | There is a tutorial on how you can use the semantic environment maps with minimal dependencies in your own code [[http://cram-system.org/tutorials/intermediate/semantic_environment_map|here]]. |
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| Soon there will be another tutorial on writing your own plan library with minimal dependencies, so stay tuned. | Soon there will be a tutorial on writing your own plan library with minimal dependencies, so stay tuned. |
