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tutorials:intermediate:bullet_world [2022/04/25 09:19] – schimpf | tutorials:intermediate:bullet_world [2023/05/02 14:15] (current) – [Abstract entity descriptions] gkazhoya | ||
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Line 308: | Line 308: | ||
<code lisp> | <code lisp> | ||
BTW-TUT> (prolog: | BTW-TUT> (prolog: | ||
- | (assert | + | (rob-int: |
- | | + | |
NIL | NIL | ||
</ | </ | ||
Line 316: | Line 316: | ||
<code lisp> | <code lisp> | ||
BTW-TUT> (prolog: | BTW-TUT> (prolog: | ||
- | (assert (btr: | + | (assert (btr: |
((0.5 1 0) (0 0 1 0)))))) | ((0.5 1 0) (0 0 1 0)))))) | ||
</ | </ | ||
Line 332: | Line 332: | ||
BTW-TUT> | BTW-TUT> | ||
(def-fact-group costmap-metadata () | (def-fact-group costmap-metadata () | ||
- | (<- (:costmap-size 12 12)) | + | (<- (costmap-size 12 12)) |
- | (<- (:costmap-origin -6 -6)) | + | (<- (costmap-origin -6 -6)) |
- | (<- (:costmap-resolution 0.04)) | + | (<- (costmap-resolution 0.04)) |
- | (<- (:costmap-padding 0.3)) | + | (<- (costmap-padding 0.3)) |
- | (<- (:costmap-manipulation-padding 0.4)) | + | (<- (costmap-manipulation-padding 0.4)) |
- | (<- (:costmap-in-reach-distance 0.7)) | + | (<- (costmap-in-reach-distance 0.7)) |
- | (<- (:costmap-reach-minimal-distance 0.2)) | + | (<- (costmap-reach-minimal-distance 0.2)) |
- | (<- (:visibility-costmap-size 2)) | + | (<- (visibility-costmap-size 2)) |
- | (<- (:orientation-samples 2)) | + | (<- (orientation-samples 2)) |
- | (<- (:orientation-sample-step 0.1))) | + | (<- (orientation-sample-step 0.1))) |
</ | </ | ||
Now, we create an abstract location description that we call a // | Now, we create an abstract location description that we call a // |