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tutorials:advanced:task_trees [2015/07/09 15:13] – [Using projection runs to guide plan transformation] mpomarlantutorials:advanced:task_trees [2020/09/17 14:09] (current) – [Plan transformations: task trees, code replacement, and serialization] gkazhoya
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 ====== Plan transformations: task trees, code replacement, and serialization ====== ====== Plan transformations: task trees, code replacement, and serialization ======
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 +**Disclaimer:** the most up to date overview of plan transformations you can find in README.md of ''cram_plan_transformation'' package (''CRAM_REPO/cram_3d_world/cram_plan_transformation/README.md''). The tutorial below is out of date and has not be maintained, unfortunately, but you might still find some useful explanations there. Otherwise, stick to the README.
  
 **Description:** this tutorial is aimed at CRAM developers, and its purpose is to present an in-development aspect of CRAM. It is less a proper tutorial and more documentation for work in progress. Expect content to change. It contains an intro to task trees, a data structure used by CRAM functions (note: this has existed in CRAM for a while and will not change). It also describes code replacement (also long existing), failure handling through code replacement (new), and serialization of task trees and functions (new). **Description:** this tutorial is aimed at CRAM developers, and its purpose is to present an in-development aspect of CRAM. It is less a proper tutorial and more documentation for work in progress. Expect content to change. It contains an intro to task trees, a data structure used by CRAM functions (note: this has existed in CRAM for a while and will not change). It also describes code replacement (also long existing), failure handling through code replacement (new), and serialization of task trees and functions (new).