Differences

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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
@@ Line 133: / Line 133: @@
 C = srdl2cap:'BaseMotionCapability'
 </code>
-===== Matching requirements to capabilities =====
+===== Behind the scenes: Implementation of the matching procedures =====
 The matching can effectively reduced to the following statement:
@@ Line 142: / Line 142: @@
 </code>
-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. "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) :-
@@ Line 152: / Line 152: @@
-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