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tutorials:intermediate:performing_plans [2018/05/15 14:56] – gkazhoyatutorials:intermediate:performing_plans [2022/03/30 21:18] – [Basic functionality] schimpf
Line 1: Line 1:
-====== Performing Activities ======+====== Performing Actions ======
  
 ===== Basic functionality ===== ===== Basic functionality =====
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 <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>
  
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 <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
 </code> </code>
Line 44: Line 45:
 <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 69:
 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 80:
 <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