Changes have been pushed for the repository "fawkes.git". (Fawkes Robotics Software Framework)
Clone: g...@git.fawkesrobotics.org:fawkes.git Gitweb: http://git.fawkesrobotics.org/fawkes.git Trac: http://trac.fawkesrobotics.org The branch, thofmann/clips-executive-pddl has been updated to 026f3d380f7e18ba44def880257ada8fe21dc422 (commit) from f1bd7e446b8aa9f5dd0d8013159eff59bb34e6ae (commit) http://git.fawkesrobotics.org/fawkes.git/thofmann/clips-executive-pddl Those revisions listed above that are new to this repository have not appeared on any other notification email; so we list those revisions in full, below. - *Log* --------------------------------------------------------------- commit 026f3d380f7e18ba44def880257ada8fe21dc422 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Fri Feb 9 11:18:16 2018 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Fri Feb 9 11:26:02 2018 +0100 clips-executive: fix action IDs for PDDL actions The last method did not work because the plan-action fact was not asserted yet before adding the next action, which resulted in same action IDs for all actions in a plan. Now, get the highest existing action ID only once as offset for the action IDs. Set the final action ID to the sum of the offset and the action ID in the plan. http://git.fawkesrobotics.org/fawkes.git/commit/026f3d3 http://trac.fawkesrobotics.org/changeset/026f3d3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/plugins/clips-executive/clips/pddl.clp | 11 ++++++----- 1 files changed, 6 insertions(+), 5 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* 026f3d380f7e18ba44def880257ada8fe21dc422 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Fri Feb 9 11:18:16 2018 +0100 Subject: clips-executive: fix action IDs for PDDL actions src/plugins/clips-executive/clips/pddl.clp | 11 ++++++----- 1 files changed, 6 insertions(+), 5 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/pddl.clp b/src/plugins/clips-executive/clips/pddl.clp index 955e0b8..c0158c1 100644 --- a/src/plugins/clips-executive/clips/pddl.clp +++ b/src/plugins/clips-executive/clips/pddl.clp @@ -82,10 +82,10 @@ (modify ?p (status PLANNED)) ) -(deffunction pddl-get-next-action-id () - "Get the ID of the next action, i.e., the max ID of all current actions + 1" - (bind ?i 1) - (do-for-all-facts ((?a plan-action)) (> ?a:id ?i) (bind ?i (+ 1 ?a:id))) +(deffunction pddl-get-max-action-id () + "Get the max ID of all current action" + (bind ?i 0) + (do-for-all-facts ((?a plan-action)) (> ?a:id ?i) (bind ?i ?a:id)) (return ?i) ) @@ -101,6 +101,7 @@ ) => (printout t "Fetched a new plan!" crlf) + (bind ?id-offset (pddl-get-max-action-id)) (progn$ (?action (bson-get-array (bson-get ?obj "o") "actions")) (bind ?param-values (bson-get-array ?action "args")) ; Convert all paramters to lower-case symbols @@ -116,7 +117,7 @@ (assert (plan (id ?plan-id) (goal-id ?goal-id)) (plan-action - (id (pddl-get-next-action-id)) + (id (+ ?action-index ?id-offset)) (plan-id ?plan-id) (action-name (sym-cat (bson-get ?action "name"))) (param-values ?param-values) -- Fawkes Robotics Framework http://www.fawkesrobotics.org _______________________________________________ fawkes-commits mailing list fawkes-commits@lists.kbsg.rwth-aachen.de https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
