APT.all-test.Room-discrete.room-discrete-move-turn-pickup.elaborations.object.soar Maven / Gradle / Ivy

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sp {robot*elaborate*at-block
   (state  ^name robot
              ^io.input-link )
   ( ^self.position 
             ^object )
   ( ^row 
              ^col )
   ( ^type block
          ^visible yes
          ^id 
          ^position )
   ( ^row 
             ^col )
-->
   ( ^at-block )}

sp {robot*elaborate*closest-object
   (state  ^name robot
              ^io.input-link )
   ( ^object )
   ( ^range )
  -( ^object.range < )
-->
   ( ^closest-object )}

sp {robot*elaborate*state*object-in-front
   (state  ^name robot
              ^parameters 
              ^io.input-link )
   ( ^object 
        ^self )
   ( -^blocked.forward true
           -^carry)
   ( ^pickup-angle-off-pos 
            ^pickup-angle-off-neg )
   ( ^type block
          ^visible yes
         -^angle-off.yaw >= 
         -^angle-off.yaw <= )
-->
   ( ^object-direction front)}
              
sp {robot*elaborate*state*object-right
   (state  ^name robot
              ^parameters.pickup-angle-off-pos 
              ^io.input-link )
   ( ^object 
       -^self.carry)
   ( ^type block
          ^angle-off.yaw > )
-->
   ( ^object-direction right)}

sp {robot*elaborate*state*object-left
   (state  ^name robot
              ^parameters.pickup-angle-off-neg  
              ^io.input-link )
   ( ^object 
       -^self.carry)
   ( ^type block
          ^angle-off.yaw < )
-->
   ( ^object-direction left)}