APT.all-test.clean-house-new.get-object.pickup-block.elaborations.soar Maven / Gradle / Ivy

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sp {pickup-block*elaborate*state*block-id
   (state  ^name pickup-block
              ^superstate.operator.id 
              ^io.input-link.objects.object )
   ( ^id )
-->
   ( ^object-id 
        ^object )
}
sp {pickup-block*elaborate*state*lined-up
   (state  ^name pickup-block
              ^top-state.parameters 
              ^object )
   ( ^max-angular-distance 
            ^min-angular-distance )
   (  -^abs-relative-bearing > 
         -^abs-relative-bearing < 
          ^visible true)
-->
   ( ^object-lined-up yes)
}
sp {pickup-block*elaborate*state*object-left
   (state  ^name pickup-block
              ^top-state.parameters.max-angular-distance 
              ^object )
   ( ^visible true
       -^abs-relative-bearing > )
-->
   ( ^object-lined-up no)
}
sp {pickup-block*elaborate*state*object-right
   (state  ^name pickup-block
              ^top-state.parameters.min-angular-distance 
              ^object )
   ( ^visible true
       -^abs-relative-bearing >= )
-->
   ( ^object-lined-up no)
}
sp {pickup-block*elaborate*state*in-range-lined-up
   (state  ^name pickup-block
              #^object-lined-up yes
              ^top-state.parameters.pickup-range 
              ^object )
   ( ^visible true
       -^distance >= )
-->
   ( ^object-in-range-lined-up yes)
}