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doc:reasoning_about_actions [2013/05/11 12:50] – [Loading a task description] admindoc:reasoning_about_actions [2014/08/28 13:24] – [Query for a sequence of actions that fulfils the ordering constraints] admin
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 The plan_subevents(Super, Sub) predicate reads the sub-actions of a plan and applies topological sorting based on the partial ordering constraints between the sub-actions to generate a sequence of actions that complies with these constraints: The plan_subevents(Super, Sub) predicate reads the sub-actions of a plan and applies topological sorting based on the partial ordering constraints between the sub-actions to generate a sequence of actions that complies with these constraints:
 <code> <code>
- ?- plan_subevents(pancake:'MakingPancakes', SEs).+ ?- plan_subevents(pancake:'MakingPancakes', Sub).
  Sub = ['http://ias.cs.tum.edu/kb/pancake-making.owl#CrackingAnEgg',  Sub = ['http://ias.cs.tum.edu/kb/pancake-making.owl#CrackingAnEgg',
         'http://ias.cs.tum.edu/kb/pancake-making.owl#MixFlourAndMilk',         'http://ias.cs.tum.edu/kb/pancake-making.owl#MixFlourAndMilk',
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 ===== Reasoning about action requirements ===== ===== Reasoning about action requirements =====
-Actions can have prerequisites in terms of components or capabilities a robot needs to have in order to execute them. The [http://ros.org/wiki/mod_srdl Semantic Robot Description Language] allows to describe robot components, robot capabilities, and dependencies of actions. +Actions can have prerequisites in terms of components or capabilities a robot needs to have in order to execute them. The [[http://ros.org/wiki/mod_srdl|Semantic Robot Description Language]] allows to describe robot components, robot capabilities, and dependencies of actions. 
  
 The following are just some examples, a full overview of SRDL can be found in the [[SRDL2_Tutorial|tutorial]]. The following are just some examples, a full overview of SRDL can be found in the [[SRDL2_Tutorial|tutorial]].