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tutorials:beginner:simple_plans [2017/09/19 14:24] – [Writing a plan to move to a waypoint] Relinking cpotutorials:beginner:simple_plans [2019/07/11 13:27] – gkazhoya
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 **Previous Tutorial:** [[tutorials:beginner:controlling_turtlesim_2|Controlling turtlesim from CRAM]]\\ **Previous Tutorial:** [[tutorials:beginner:controlling_turtlesim_2|Controlling turtlesim from CRAM]]\\
-**Next Tutorial:** [[tutorials:beginner:motion_designators|Creating motion designators for the TurtleSim]]+**Next Tutorial:** [[tutorials:beginner:cram_prolog|Using Prolog for reasoning]]
  
    
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 (defun relative-angle-to (goal pose-msg) (defun relative-angle-to (goal pose-msg)
-  "Given a `pose-msg' as a geometry_msgs/Pose and a `goal' as cl-transforms:3d-vector,+  "Given a `pose-msg' as a turtlesim-msg:pose and a `goal' as cl-transforms:3d-vector,
 calculate the angle by which the pose has to be turned to point toward the goal." calculate the angle by which the pose has to be turned to point toward the goal."
   (let ((diff-pose (cl-transforms:transform-point   (let ((diff-pose (cl-transforms:transform-point
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 (def-cram-function move-to (goal &optional (distance-threshold 0.1)) (def-cram-function move-to (goal &optional (distance-threshold 0.1))
   "Sends velocity commands until `goal' is reached."   "Sends velocity commands until `goal' is reached."
-  (let ((reached-fl (< (fl-funcall #'cl-transforms:v-dist+ (let ((reached-fl (< (fl-funcall #'cl-transforms:v-dist
                                    (fl-funcall                                    (fl-funcall
                                     #'cl-transforms:translation                                     #'cl-transforms:translation
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-Moving along predetermined points is all fine and good, but let's have a look at a more flexible way that CRAM provides to specify and reason about parameters ...+Moving along predetermined points is all fine and good, but let's have a look at a more flexible way that CRAM provides to specify and reason about parameters. To learn about motion parameter, we, however, first need to understand how the Lisp Prolog works ...
  
-[[tutorials:beginner:motion_designators|Creating motion designators for the turtlesim]]+[[tutorials:beginner:cram_prolog|Using Prolog for reasoning]]