Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision
Previous revision
doc:srdl2_tutorial [2014/11/27 17:00] – [Missing components or capabilities] admindoc:srdl2_tutorial [2014/11/27 17:05] (current) – [Matching requirements to capabilities] admin
Line 28: Line 28:
 $ rosrun rosprolog rosprolog knowrob_srdl $ rosrun rosprolog rosprolog knowrob_srdl
  
-% Load SRDL model of the PR2 robot+% Load SRDL model of the PR2 and Baxter robots
 ?- owl_parse('package://knowrob_srdl/owl/PR2.owl'). ?- owl_parse('package://knowrob_srdl/owl/PR2.owl').
 +?- owl_parse('package://knowrob_srdl/owl/baxter.owl').
  
 % Load an example task description for serving a drink % Load an example task description for serving a drink
Line 132: Line 133:
 C = srdl2cap:'BaseMotionCapability' C = srdl2cap:'BaseMotionCapability'
 </code> </code>
-===== 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:
 +<code prolog>
   missing_cap_for_action(Action, Robot, Cap) :-   missing_cap_for_action(Action, Robot, Cap) :-
      required_cap_for_action(Action, Cap),      required_cap_for_action(Action, Cap),
      \+ cap_available_on_robot(Cap, Robot).      \+ cap_available_on_robot(Cap, Robot).
-A missing capability is thus defined as one that is required by an actionbut not provided by the robot. Required means that either the action itself or any sub-action has a dependency on this capability:+</code> 
 +      
 +A missing capability is thus defined as one that is required by an action but not provided by the robot. "Required" thereby means that either the action itself or any sub-action has a dependency on this capability: 
 +<code prolog>
   required_cap_for_action(Action, Cap) :-   required_cap_for_action(Action, Cap) :-
      class_properties(Action, srdl2cap:'dependsOnCapability', Cap).      class_properties(Action, srdl2cap:'dependsOnCapability', Cap).
Line 144: Line 149:
      plan_subevents_recursive(Action, SubAction),      plan_subevents_recursive(Action, SubAction),
      class_properties(SubAction, srdl2cap:'dependsOnCapability', Cap).      class_properties(SubAction, srdl2cap:'dependsOnCapability', Cap).
 +</code>
  
-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 base), for a specific robot instance, or it can be concluded that the capability should be available because all specified dependencies on components or other capabilities are fulfilled: 
  
 +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 base), for a specific robot instance, or it can be concluded that the capability should be available because all specified dependencies on components or other capabilities are fulfilled:
 +<code prolog>
   % capability asserted for robot instance   % capability asserted for robot instance
   cap_available_on_robot(Cap, Robot) :-   cap_available_on_robot(Cap, Robot) :-
Line 166: Line 173:
      forall( class_properties(Cap, srdl2cap:'dependsOnCapability', SubCap),      forall( class_properties(Cap, srdl2cap:'dependsOnCapability', SubCap),
              cap_available_on_robot(SubCap, Robot) ).              cap_available_on_robot(SubCap, Robot) ).
 +</code>
  
 The matching procedure is equivalent for components. The matching procedure is equivalent for components.