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tutorials:beginner:location_designators [2016/03/04 14:11] – gkazhoya | tutorials:beginner:location_designators [2016/03/04 14:25] (current) – old revision restored (2016/01/26 10:38) gkazhoya | ||
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<code lisp> | <code lisp> | ||
TUT> (defparameter goal-desig | TUT> (defparameter goal-desig | ||
- | | + | |
TUT> goal-desig | TUT> goal-desig | ||
#< | #< | ||
Line 184: | Line 184: | ||
<code lisp> | <code lisp> | ||
TUT> (defparameter another-goal | TUT> (defparameter another-goal | ||
- | | + | |
ANOTHER-GOAL | ANOTHER-GOAL | ||
TUT> (loop for desig = another-goal then (next-solution desig) | TUT> (loop for desig = another-goal then (next-solution desig) | ||
Line 254: | Line 254: | ||
(process-module-alias :navigation ' | (process-module-alias :navigation ' | ||
(with-designators | (with-designators | ||
- | ((trajectory action `((:type :shape) (:shape :hexagon) (:radius ,radius)))) | + | ((trajectory |
(pm-execute :navigation trajectory)))))) | (pm-execute :navigation trajectory)))))) | ||
Line 265: | Line 265: | ||
(process-module-alias :navigation ' | (process-module-alias :navigation ' | ||
(with-designators | (with-designators | ||
- | ((area location `((: | + | ((area |
| | ||
- | (goal action `((:type :goal) (:goal ,area)))) | + | |
(pm-execute :navigation goal)))))) | (pm-execute :navigation goal)))))) | ||
</ | </ |