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tutorials:beginner:location_designators [2016/03/04 14:11] – gkazhoyatutorials: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
-       (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>