APT.all-test.MOUTBot.common.stand.soar Maven / Gradle / Ivy

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##################################### 
# file: stand.soar 
# created: REW: 2003-05-01
## 
# Encode all the situations in which an agent should move to a standing position
#
# Change history: 
# 
#  [1] REW: 2003-05-01
#      General strategy is to only terminate these operators when
#      the position has changed.  Position needs to be input, but for
#      now we track it via ^self
#  [2] Just notional for now until command fixed

# REW [2]: Remove output command until command fixed

# Let body-position default to standing
#sp {common*propose*stand*no-body-position
#   (state  ^name execute-mission ^top-state.self )
#   ( -^body-position)
#   -->
#   ( ^operator  +, >, = 90)
#   ( ^name stand
##        ^actions.stand true
#                             )
#}
 

# REW: 2003-05-23
# For test only, but it definitely works
#sp {common*propose*stand*test
#   (state  ^name execute-mission  
#              ^top-state.self )
#   ( ^body-position <> stand
#          -^changing-body-position)
#   -->
#   ( ^operator  +, >, = 90)
#   ( ^name stand
#        ^actions.stand true
#                             )
#}

# REW: 2003-05-01 
# [2] REW: For now, just add body-position stand
#sp {apply*stand*initialize-body-position
#   (state  ^operator 
#              ^top-state )
#( ^self 
##      ^io.output-link.stand.status complete
#              )
#( -^body-position)
#   ( ^name stand)
#   -->
#   (write (crlf) |Initialize body position|)
#   ( ^body-position stand)
#}

sp {apply*stand
   (state  ^operator 
              ^top-state )
( ^self               )
( ^body-position 
       )
   ( ^name stand
        ^actions )
   -->
   (write (crlf) |Initiating move to stand |)
   ( ^body-position  -  +)
}



### Applications of execute mission for stand/kneel/lie-prone

sp {apply*top-state-operator*update-body-position
   (state  ^superstate nil
              ^operator 
              ^top-state )
( ^self 
      ^io.output-link.{ << stand lie-prone kneel >>  }.status complete
              )
( ^body-position )
( ^ )
( ^name )
   -->
   (write (crlf) |Feedback received...now |  )
   ( ^body-position  -  +)
}

# REW: Need special prod because kneel really implemented as 'crouch'
# so we can't just copy the name 
sp {apply*top-state-operator*update-body-position*crouch
   (state  ^superstate nil
              ^operator 
              ^top-state )
( ^self 
      ^io.output-link.crouch.status complete
              )
( ^body-position )
( ^crouch )
( ^name )
   -->
   (write (crlf) |Feedback received...now kneeling| )
   ( ^body-position  - kneel +)
}