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 f1bd7e446b8aa9f5dd0d8013159eff59bb34e6ae (commit) from d9670b4da4bd474b2e71bac71473a7e46b08ac55 (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 f1bd7e446b8aa9f5dd0d8013159eff59bb34e6ae Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Fri Feb 2 12:37:46 2018 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Fri Feb 2 12:37:46 2018 +0100 clips-executive: always use the min non-existing id for new actions Do not use the index of the action in the plan as action id, as this results in actions with the same IDs if you call the planner multiple times. Instead, check what the current max id is, and use the max id + 1 as new action ID. http://git.fawkesrobotics.org/fawkes.git/commit/f1bd7e4 http://trac.fawkesrobotics.org/changeset/f1bd7e4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/plugins/clips-executive/clips/pddl.clp | 9 ++++++++- 1 files changed, 8 insertions(+), 1 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* f1bd7e446b8aa9f5dd0d8013159eff59bb34e6ae - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Fri Feb 2 12:37:46 2018 +0100 Subject: clips-executive: always use the min non-existing id for new actions src/plugins/clips-executive/clips/pddl.clp | 9 ++++++++- 1 files changed, 8 insertions(+), 1 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/pddl.clp b/src/plugins/clips-executive/clips/pddl.clp index 0fc32e5..955e0b8 100644 --- a/src/plugins/clips-executive/clips/pddl.clp +++ b/src/plugins/clips-executive/clips/pddl.clp @@ -82,6 +82,13 @@ (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))) + (return ?i) +) + (defrule pddl-expand-goal "Fetch the resulting plan from robot memory and expand the goal." ?g <- (goal (id ?goal-id) (mode SELECTED)) @@ -109,7 +116,7 @@ (assert (plan (id ?plan-id) (goal-id ?goal-id)) (plan-action - (id ?action-index) + (id (pddl-get-next-action-id)) (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
