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tutorials:intermediate:performing_plans [2018/05/15 14:56] – gkazhoyatutorials:intermediate:performing_plans [2022/03/30 21:26] (current) – [Plan goals] schimpf
Line 1: Line 1:
-====== Performing Activities ======+====== Performing Actions ======
  
 ===== Basic functionality ===== ===== Basic functionality =====
Line 8: Line 8:
  
 <code lisp> <code lisp>
-CL-USER> (ros-load:load-system "cram_plan_library" :cram-plan-library) +CL-USER> (ros-load:load-system "cram_executive" :cram-executive) 
-;; or ,r-l-s RET cram_plan_library RET RET+;; or ,r-l-s RET cram_executive RET RET
 </code> </code>
  
Line 15: Line 15:
  
 <code lisp> <code lisp>
-CL-USER> (cpl:def-cram-function eat (stuff) +CL-USER> (cpl:def-cram-function eat (&key ((:yummy ?yummy)) &allow-other-keys) 
-           (format t "hmmm... nomnomnom... ~a~%" stuff))+           (declare (type (or string null) ?yummy)) 
 +           (format t "hmmm... nomnomnom... ~a~%" ?yummy))
 </code> </code>
  
Line 22: Line 23:
  
 <code lisp> <code lisp>
-CL-USER> (prolog:def-fact-group eating-plans (desig:action-desig) +CL-USER> (prolog:def-fact-group eating-plans (desig:action-grounding) 
-           (prolog:<- (desig:action-desig ?action-designator (eat ?object)) +             (prolog:<- (desig:action-grounding ?action-designator (eat ?action-designator)) 
-             (desig:desig-prop ?action-designator (:to :eat)) +                        (desig:desig-prop ?action-designator (:to :eat)) 
-             (desig:desig-prop ?action-designator (:yummy ?object))))+                        (desig:desig-prop ?action-designator (:yummy ?object))))
 </code> </code>
  
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 <code lisp> <code lisp>
 CL-USER> (cpl:top-level CL-USER> (cpl:top-level
-           (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)>
 </code> </code>
  
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 <code lisp> <code lisp>
 CL-USER> (cpl:top-level CL-USER> (cpl:top-level
-           (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:
    Trying to prove goal (OBJECT-EATEN    Trying to prove goal (OBJECT-EATEN
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:def-cram-function eat (stuff) +CL-USER> (cpl:def-cram-function eat (&key ((:yummy ?yummy)) &allow-other-keys) 
-           (format t "hmmm... nomnomnom... ~a~%" stuff)+           (declare (type (or string null) ?yummy)) 
 +           (format t "hmmm... nomnomnom... ~a~%" ?yummy)
            (setf *pizza-eaten-p* t))            (setf *pizza-eaten-p* t))
-STYLE-WARNING: redefining COMMON-LISP-USER::EAT in DEFUN+; in: CRAM-LANGUAGE-IMPLEMENTATION:DEF-CRAM-FUNCTION EAT 
 +;     (TYPE (OR STRING NULL) ?YUMMY) 
 +;  
 +; caught WARNING: 
 +;   undefined variable: COMMON-LISP-USER::?YUMMY 
 +;  
 +; compilation unit finished 
 +;   Undefined variable: 
 +;     ?YUMMY 
 +;   caught 1 WARNING condition 
 +WARNING: redefining COMMON-LISP-USER::EAT in DEFUN
 EAT EAT
 CL-USER> (prolog:def-fact-group eating-occasions () CL-USER> (prolog:def-fact-group eating-occasions ()
-           (prolog:<- (cram-plan-occasions-events::object-eaten ?object)+           (prolog:<- (:object-eaten ?object)
              (prolog:symbol-value *pizza-eaten-p* ?eaten)              (prolog:symbol-value *pizza-eaten-p* ?eaten)
              (prolog:lisp-pred identity ?eaten)))              (prolog:lisp-pred identity ?eaten)))
Line 79: Line 95:
 <code lisp> <code lisp>
 PLAN-LIB> (cpl:top-level PLAN-LIB> (cpl:top-level
-            (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