rairlab/Spectra
1
0
Fork 0
mirror of https://github.com/RAIRLab/Spectra.git synced 2024-11-21 16:36:29 -05:00
Code Issues Projects Releases Packages Wiki Activity

Update README.md

Browse source
This commit is contained in:
Naveen Sundar G 2017-12-29 00:08:54 -08:00 committed by GitHub
parent 3c0df78d28
commit e723fb5a1e
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 16 additions and 0 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

16
README.md
View file

@ -1 +1,17 @@
# Spectra
```clojure
;; (removeFrom ?x ?y) => "Remove ?x from ?y"
;; (placeInside ?x ?y) ==> "Place ?x inside ?y"
(define-method planMethod [?b ?c ?d]
{:goal [(In ?b ?c) (In ?c ?d)]
:while [(In ?b ?d) (Empty ?c)
(< (size ?c) (size ?d))
(< (size ?b) (size ?c))]
:actions [(removeFrom ?b ?d) (placeInside ?b ?c) (placeInside ?c ?d)]})
Roughly, a method has conditions that the goal and background + start state should satisfy. If the conditions are satisfied, a plan template is generated (note the variables).
The planner then verifies if the plan template works, if so it outputs the plan.
```