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Added a few more predicates for semantic maps.

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1 parent 0f8241c commit 69482e94e83fcbea3c6160b8b3331fd49eee03e8 @moesenle committed May 3, 2012
Showing with 26 additions and 1 deletion.
  1. +26 −1 bullet_reasoning/src/semantic-map-facts.lisp
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27 bullet_reasoning/src/semantic-map-facts.lisp
@@ -69,5 +69,30 @@
(<- (container ?w ?sem-map ?link)
(not (bound ?link))
+ (bullet-world ?w)
(link ?w ?sem-map ?link)
- (container ?w ?sem-map ?link)))
+ (container ?w ?sem-map ?link))
+
+ (<- (semantic-map-part ?world ?semantic-map ?part-name)
+ (ground ?part-name)
+ (semantic-map ?world ?semantic-map)
+ (%object ?world ?semantic-map ?semantic-map-instance)
+ (lisp-pred sem-map-utils:semantic-map-part ?semantic-map-instance
+ ?part-name :recursive t))
+
+ (<- (semantic-map-part ?world ?semantic-map ?part-name)
+ (not (ground ?part-name))
+ (semantic-map ?world ?semantic-map)
+ (%object ?world ?semantic-map ?semantic-map-instance)
+ (lisp-fun sem-map-utils:semantic-map-parts ?semantic-map-instance
+ :recursive t ?parts)
+ (member ?part ?parts)
+ (lisp-fun sem-map-utils:name ?part ?part-name))
+
+ (<- (semantic-map-part-type ?world ?semantic-map ?part-name ?type)
+ (semantic-map-part ?world ?semantic-map ?part-name)
+ (%object ?world ?semantic-map ?semantic-map-instance)
+ (lisp-fun sem-map-utils:semantic-map-part ?semantic-map-instance
+ ?part-name :recursive t ?part)
+ (lisp-fun sem-map-utils:obj-type ?part ?part-type)
+ (equal ?part-type ?type)))

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