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Modified .spec file to make compatible with current ltlmop. Created

config file.
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commit 396ff71f6ad66304b56e77ade6eaf37e1af21e86 1 parent a168dfa
@jadecastro jadecastro authored
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54 src/examples/volcano/configs/volcano_examp.config
@@ -0,0 +1,54 @@
+# This is a configuration definition file for the example "volcano".
+# Format details are described at the beginning of each section below.
+
+
+======== General Config ========
+
+Actuator_Proposition_Mapping: # Mapping between actuator propositions and actuator handler functions
+
+Initial_Truths: # Initially true propositions
+T_hardware
+
+Main_Robot: # The name of the robot used for moving in this config
+Basic Simulated Robot
+
+Name: # Configuration name
+volcano examp
+
+Sensor_Proposition_Mapping: # Mapping between sensor propositions and sensor handler functions
+
+
+======== Robot1 Config ========
+
+ActuatorHandler: # Actuator handler file in robots/Type folder
+basicSimActuator()
+
+CalibrationMatrix: # 3x3 matrix for converting coordinates, stored as lab->map
+array([[1, 0, 0],
+ [0, 1, 0],
+ [0, 0, 1]])
+
+DriveHandler: # Input value for robot drive handler, refer to file inside the handlers/drive folder
+holonomicDrive(multiplier=50.0,maxspeed=999.0)
+
+InitHandler: # Input value for robot init handler, refer to the init file inside the handlers/robots/Type folder
+basicSimInit(init_region="Plains")
+
+LocomotionCommandHandler: # Input value for robot locomotion command handler, refer to file inside the handlers/robots/Type folder
+basicSimLocomotionCommand(speed=1.0)
+
+MotionControlHandler: # Input value for robot motion control handler, refer to file inside the handlers/motionControl folder
+vectorController()
+
+PoseHandler: # Input value for robot pose handler, refer to file inside the handlers/pose folder
+basicSimPose()
+
+RobotName: # Robot Name
+Basic Simulated Robot
+
+SensorHandler: # Sensor handler file in robots/Type folder
+basicSimSensor()
+
+Type: # Robot type
+basicSim
+
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80 src/examples/volcano/volcano.spec
@@ -1,36 +1,21 @@
# This is a specification definition file for the LTLMoP toolkit.
# Format details are described at the beginning of each section below.
-# Note that all values are separated by *tabs*.
-======== EXPERIMENT CONFIG 0 ========
-
-Calibration: # Coordinate transformation between map and experiment: XScale, XOffset, YScale, YOffset
-0.00656339232415,3.54995774955,-0.00722948261407,2.04105576833
-
-InitialRegion: # Initial region number
-6
-
-InitialTruths: # List of initially true propositions
-T_hardware
-
-Lab: # Lab configuration file
-CKBot.lab
-
-Name: # Name of the experiment
-Default
-
-RobotFile: # Relative path of robot description file
-CKBot.robot
+======== SETTINGS ========
+Actions: # List of action propositions and their state (enabled = 1, disabled = 0)
+T_narrow, 1
+T_low, 1
+T_hardware, 1
+T_stationary, 1
-======== SETTINGS ========
+CompileOptions:
+convexify: True
+fastslow: False
-Actions: # List of actions and their state (enabled = 1, disabled = 0)
-T_narrow,1
-T_low,1
-T_hardware,1
-T_stationary,1
+CurrentConfigName:
+volcano examp
Customs: # List of custom propositions
carrying_item
@@ -38,41 +23,42 @@ carrying_item
RegionFile: # Relative path of region description file
volcano.regions
-Sensors: # List of sensors and their state (enabled = 1, disabled = 0)
-Landslide,1
-Burn,1
-
-currentExperimentName:
-Default
+Sensors: # List of sensor propositions and their state (enabled = 1, disabled = 0)
+Landslide, 1
+Burn, 1
======== SPECIFICATION ========
-RegionMapping:
+RegionMapping: # Mapping between region names and their decomposed counterparts
+Lava3 = p6
+Lava2 = p7
+Lava1 = p8
+others =
+between$Lava1$and$Lava2$ = p1, p2
+Plains = p5
+Plateau = p4
+between$Plains$and$Springs$ = p2, p8
+Springs = p3
+
+Spec: # Specification in structured English
+# Volcano Example
+# Visit Plateu and Plains repeatedly as long as there is no landslide, while avoiding lava areas.
+# If there is a landslide, then stay put. If burning, then visit Springs.
-Lava3=p6
-Lava2=p7
-Lava1=p8
-between$Lava1$and$Lava2$=p1,p2
-Plains=p5
-Springs=p3
-Plateau=p4
-others=
-between$Plains$and$Springs$=p2,p8
-
-Spec: # Specification in simple English
Env starts with false
Robot starts in Plains
-Always do T_hardware
+# Always do T_hardware
+Always T_hardware
If you are not sensing Landslide and you are not sensing Burn then visit Plateau
If you are not sensing Landslide and you are not sensing Burn then visit Plains
If you are not sensing Landslide and you are sensing Burn then visit Springs
If you were in between Plains and Springs then do not Springs
Do T_stationary if and only if you are in Springs and you are sensing Burn
Always not Lava1 and not Lava2 and not Lava3
-If you were in between Lava1 and Lava2 then do not sense Landslide
+# If you were in between Lava1 and Lava2 then do not sense Landslide
+If you were in between Lava1 and Lava2 then do not Landslide
T_low is set on between Lava1 and Lava2 and reset on Plains or Plateau or Springs
T_narrow is set on between Lava1 and Lava2 and reset on Plains or Plateau or Springs
If you are sensing Landslide then stay there
-
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