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tutorials:beginner:location_designators [2016/03/04 14:11]
gkazhoya
tutorials:beginner:location_designators [2016/03/04 14:25] (current)
gkazhoya old revision restored (2016/01/26 10:38)
Line 61: Line 61:
 <code lisp> <code lisp>
 TUT> (defparameter goal-desig TUT> (defparameter goal-desig
-       ​(make-designator ​'location '​((:​vertical-position :bottom) (:​horizontal-position :left))))+       ​(make-designator ​:location '​((:​vertical-position :bottom) (:​horizontal-position :left))))
 TUT> goal-desig TUT> goal-desig
 #<​LOCATION-DESIGNATOR ((:​VERTICAL-POSITION :BOTTOM) #<​LOCATION-DESIGNATOR ((:​VERTICAL-POSITION :BOTTOM)
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 <code lisp> <code lisp>
 TUT> (defparameter another-goal TUT> (defparameter another-goal
-       ​(make-designator ​'location '​((:​vertical-position :bottom) (:​horizontal-position :left))))+       ​(make-designator ​:location '​((:​vertical-position :bottom) (:​horizontal-position :left))))
 ANOTHER-GOAL ANOTHER-GOAL
 TUT> (loop for desig = another-goal then (next-solution desig) TUT> (loop for desig = another-goal then (next-solution desig)
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         (process-module-alias :navigation '​actionlib-navigation)         (process-module-alias :navigation '​actionlib-navigation)
         (with-designators         (with-designators
-            ((trajectory action `((:type :shape) (:shape :hexagon) (:radius ,radius))))+            ((trajectory ​:action `((:type :shape) (:shape :hexagon) (:radius ,radius))))
           (pm-execute :navigation trajectory))))))           (pm-execute :navigation trajectory))))))
  
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         (process-module-alias :navigation '​simple-navigation)         (process-module-alias :navigation '​simple-navigation)
         (with-designators         (with-designators
-            ((area location `((:​horizontal-position ,​horizontal-position)+            ((area ​:location `((:​horizontal-position ,​horizontal-position)
                                ​(:​vertical-position ,​vertical-position)))                                ​(:​vertical-position ,​vertical-position)))
-             (goal action `((:type :goal) (:goal ,area))))+             ​(goal ​:action `((:type :goal) (:goal ,area))))
           (pm-execute :navigation goal))))))           (pm-execute :navigation goal))))))
 </​code>​ </​code>​