From e96987beb77de2c6dd7938606af1f6c12aa831c8 Mon Sep 17 00:00:00 2001 From: Alex Lotz Date: Fri, 29 Nov 2019 13:57:12 +0100 Subject: [PATCH 1/2] add tiago office locations --- BehaviorNavigationScenario/.classpath | 2 +- BehaviorNavigationScenario/.cproject | 20 ++++---- BehaviorNavigationScenario/.project | 14 ------ .../model/BehaviorNavigationScenario.smartTcl | 50 ++++++++++++++++++- 4 files changed, 59 insertions(+), 27 deletions(-) diff --git a/BehaviorNavigationScenario/.classpath b/BehaviorNavigationScenario/.classpath index 3fe06ea..4928971 100644 --- a/BehaviorNavigationScenario/.classpath +++ b/BehaviorNavigationScenario/.classpath @@ -1,7 +1,7 @@ - + diff --git a/BehaviorNavigationScenario/.cproject b/BehaviorNavigationScenario/.cproject index b6d9692..8c64073 100644 --- a/BehaviorNavigationScenario/.cproject +++ b/BehaviorNavigationScenario/.cproject @@ -18,16 +18,16 @@ - + - - @@ -63,16 +63,16 @@ - + - - diff --git a/BehaviorNavigationScenario/.project b/BehaviorNavigationScenario/.project index 9d4e018..f8b29c9 100644 --- a/BehaviorNavigationScenario/.project +++ b/BehaviorNavigationScenario/.project @@ -8,12 +8,6 @@ CommNavigationObjects - - org.eclipse.cdt.managedbuilder.core.genmakebuilder - clean,full,incremental, - - - org.eclipse.jdt.core.javabuilder @@ -24,20 +18,12 @@ - - org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder - full,incremental, - - - org.eclipse.cdt.core.cnature - org.eclipse.cdt.managedbuilder.core.ScannerConfigNature org.eclipse.xtext.ui.shared.xtextNature org.eclipse.jdt.core.javanature org.eclipse.cdt.core.ccnature org.smartmdsd.utils.natures.BehaviorNature - org.eclipse.cdt.managedbuilder.core.managedBuildNature diff --git a/BehaviorNavigationScenario/model/BehaviorNavigationScenario.smartTcl b/BehaviorNavigationScenario/model/BehaviorNavigationScenario.smartTcl index bcb79c5..a83b16e 100644 --- a/BehaviorNavigationScenario/model/BehaviorNavigationScenario.smartTcl +++ b/BehaviorNavigationScenario/model/BehaviorNavigationScenario.smartTcl @@ -18,6 +18,54 @@ (backward-dist 500))) +(tcl-kb-update + :key '(is-a name) + :value '( + (is-a location) + (name sofa) + (speech "sofa") + (approach-type (region)) + (approach-region-pose (0 8000 0)) + (approach-region-dist 150) + (approach-exact-pose (0 8000 0)) + (approach-exact-dist 100) + (approach-exact-safetycl 0) + (orientation-region (position 1000 9000)) + (orientation-exact (position 1000 9000)) + (backward-dist 500))) + +(tcl-kb-update + :key '(is-a name) + :value '( + (is-a location) + (name table) + (speech "table") + (approach-type (region)) + (approach-region-pose (2500 -2000 0)) + (approach-region-dist 150) + (approach-exact-pose (2500 -2000 0)) + (approach-exact-dist 100) + (approach-exact-safetycl 0) + (orientation-region (position 2500 -3000)) + (orientation-exact (position 2500 -3000)) + (backward-dist 500))) + +(tcl-kb-update + :key '(is-a name) + :value '( + (is-a location) + (name bench) + (speech "bench") + (approach-type (region)) + (approach-region-pose (-3000 2200 0)) + (approach-region-dist 150) + (approach-exact-pose (-3000 2200 0)) + (approach-exact-dist 100) + (approach-exact-safetycl 0) + (orientation-region (position -4000 2200)) + (orientation-exact (position -4000 2200)) + (backward-dist 500))) + (tcl-kb-update :key '(is-a name) :value '( @@ -116,8 +164,6 @@ ; (execute '(navigationTestTask)) - - ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;; REACTIVE NAV ; (execute '(nav1.tcb-reactive-navigation)) From 67660171907dcf092534db29a7984e5a200d449a Mon Sep 17 00:00:00 2001 From: Alex Lotz Date: Mon, 2 Dec 2019 14:05:27 +0100 Subject: [PATCH 2/2] update behavior models --- .../model/BehaviorNavigationScenario.smartTcl | 10 ++++++++++ BehaviorSLAMRGBdLaserCompare/.project | 12 ------------ .../BehaviorSLAMRGBdLaserCompare.taskRealization | 4 +++- 3 files changed, 13 insertions(+), 13 deletions(-) diff --git a/BehaviorNavigationScenario/model/BehaviorNavigationScenario.smartTcl b/BehaviorNavigationScenario/model/BehaviorNavigationScenario.smartTcl index a83b16e..634c0d3 100644 --- a/BehaviorNavigationScenario/model/BehaviorNavigationScenario.smartTcl +++ b/BehaviorNavigationScenario/model/BehaviorNavigationScenario.smartTcl @@ -173,8 +173,18 @@ ; (execute '(nav1.tcb-joystick-navigation)) ; (execute '(nav1.tcb-stop-joystick-navigation)) ;; +; (execute '(localizationModInst.tcb-activate-localization)) ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;; +;; (execute '(cameraInst.activateCameraPush)) +;; (execute '(cameraInst.activateCameraQuery)) +;; (execute '(cameraInst.deactivateCamera)) + +;; (execute '(laserfromrgbdInst.activateLaserGenaration)) +;; (execute '(laserfromrgbdInst.dectivateLaserGenaration)) + + (realize-tcb (navigationTestTask) (action ( diff --git a/BehaviorSLAMRGBdLaserCompare/.project b/BehaviorSLAMRGBdLaserCompare/.project index ccefe4f..c97dc96 100644 --- a/BehaviorSLAMRGBdLaserCompare/.project +++ b/BehaviorSLAMRGBdLaserCompare/.project @@ -9,12 +9,6 @@ DomainVision - - org.eclipse.cdt.managedbuilder.core.genmakebuilder - clean,full,incremental, - - - org.eclipse.jdt.core.javabuilder @@ -25,12 +19,6 @@ - - org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder - full,incremental, - - - org.eclipse.cdt.core.cnature diff --git a/BehaviorSLAMRGBdLaserCompare/model/BehaviorSLAMRGBdLaserCompare.taskRealization b/BehaviorSLAMRGBdLaserCompare/model/BehaviorSLAMRGBdLaserCompare.taskRealization index e9b2744..74f6e76 100644 --- a/BehaviorSLAMRGBdLaserCompare/model/BehaviorSLAMRGBdLaserCompare.taskRealization +++ b/BehaviorSLAMRGBdLaserCompare/model/BehaviorSLAMRGBdLaserCompare.taskRealization @@ -13,4 +13,6 @@ TaskRealizationModel BehaviorSLAMRGBdLaserCompare { //this task realization is a dummy (see smartTCL file) //TaskRealization CommNavigationObjects.testTask { } -} \ No newline at end of file + //(visLaser.startVisualizationOf 'laser1 "ComponentRobotinoLaserServer" "pushNewestServer") + +}