Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
Next revisionBoth sides next revision
tutorials:intermediate:performing_plans [2018/05/15 14:56] – gkazhoyatutorials:intermediate:performing_plans [2019/02/20 12:55] – Removed reference to cram-plan-occasions-events. cpo
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 22: Line 22:
  
 <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 ?object))
              (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))))
Line 34: Line 34:
 <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
 </code> </code>
Line 44: Line 44:
 <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 68: Line 68:
 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 79:
 <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