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doc:srdl2_tutorial [2014/11/27 17:04] – [Matching requirements to capabilities] admin | doc:srdl2_tutorial [2014/11/27 17:05] (current) – [Matching requirements to capabilities] admin | ||
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C = srdl2cap:' | C = srdl2cap:' | ||
</ | </ | ||
- | ===== Matching requirements to capabilities | + | ===== Behind the scenes: Implementation of the matching procedures |
The matching can effectively reduced to the following statement: | The matching can effectively reduced to the following statement: | ||
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</ | </ | ||
- | A missing capability is thus defined as one that is required by an action, but not provided by the robot. Required means that either the action itself or any sub-action has a dependency on this capability: | + | A missing capability is thus defined as one that is required by an action but not provided by the robot. |
<code prolog> | <code prolog> | ||
required_cap_for_action(Action, | required_cap_for_action(Action, | ||
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- | There are three possibilities to express that a capability is available on a robot: Either it is asserted to be available for the whole class of robots (e.g. every PR2 has a holonomic | + | There are three possibilities to express that a capability is available on a robot: Either it is asserted to be available for the whole class of robots (e.g. every PR2 has a mobile |
<code prolog> | <code prolog> | ||
% capability asserted for robot instance | % capability asserted for robot instance |