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doc:srdl2_tutorial [2014/11/27 17:04]
admin [Matching requirements to capabilities]
doc:srdl2_tutorial [2014/11/27 17:05] (current)
admin [Matching requirements to capabilities]
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 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:
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 </​code>​ </​code>​
            
-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:+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> <code prolog>
   required_cap_for_action(Action,​ Cap) :-   required_cap_for_action(Action,​ Cap) :-
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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 ​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> <code prolog>
   % capability asserted for robot instance   % capability asserted for robot instance