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Added a ?SIDE variable to the DESIGNATOR-REACH-POSE predicate.

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1 parent ce7dff0 commit 23d78f780301f3aeb4cdf8321268d9cf06f54c80 @moesenle committed May 9, 2012
Showing with 10 additions and 7 deletions.
  1. +10 −7 location_costmap/src/facts.lisp
@@ -185,7 +185,7 @@ orientations differ by `sample-step'."
(<- (desig-costmap ?desig ?cm)
(reachability-designator ?desig)
- (bagof ?pose (designator-reach-pose ?desig ?pose) ?poses)
+ (bagof ?pose (designator-reach-pose ?desig ?pose ?_) ?poses)
(costmap ?cm)
(lisp-fun 2d-pose-covariance ?poses 0.5 (?mean ?covariance))
(costmap-in-reach-distance ?distance)
@@ -229,24 +229,27 @@ orientations differ by `sample-step'."
(desig-prop ?designator (to execute))
(desig-prop ?designator (action ?_)))
- (<- (designator-reach-pose ?designator ?pose)
+ (<- (designator-reach-pose ?designator ?pose ?side)
(reachability-designator ?designator)
- (desig-prop ?designator (pose ?pose)))
+ (desig-prop ?designator (pose ?pose))
+ (-> (desig-prop ?designator (side ?side)) (true) (true)))
- (<- (designator-reach-pose ?designator ?point)
+ (<- (designator-reach-pose ?designator ?point ?side)
(reachability-designator ?designator)
(or (desig-prop ?designator (object ?object))
(desig-prop ?designator (obj ?object)))
(desig-location-prop ?object ?pose)
+ (-> (desig-prop ?designator (side ?side)) (true) (true))
(lisp-fun cl-transforms:origin ?pose ?point))
- (<- (designator-reach-pose ?designator ?pose)
+ (<- (designator-reach-pose ?designator ?pose ?side)
(reachability-designator ?designator)
(desig-prop ?designator (location ?location))
+ (-> (desig-prop ?designator (side ?side)) (true) (true))
(desig-location-prop ?location ?pose))
- (<- (designator-reach-pose ?designator ?pose)
+ (<- (designator-reach-pose ?designator ?pose ?side)
(reachability-designator ?designator)
(desig-prop ?designator (to execute))
(desig-prop ?designator (action ?action))
- (plan-knowledge:trajectory-point ?action ?pose)))
+ (plan-knowledge:trajectory-point ?action ?pose ?side)))

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