mirror of
https://github.com/RAIRLab/Spectra.git
synced 2024-11-09 11:10:34 -05:00
17 lines
634 B
Markdown
17 lines
634 B
Markdown
# 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.
|
|
```
|