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doc:srdl2_tutorial [2014/11/27 17:00] – [Missing components or capabilities] admin | doc:srdl2_tutorial [2014/11/27 17:05] (current) – [Matching requirements to capabilities] admin | ||
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$ 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(' | ?- owl_parse(' | ||
+ | ?- owl_parse(' | ||
% Load an example task description for serving a drink | % Load an example task description for serving a drink | ||
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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: | ||
+ | <code prolog> | ||
missing_cap_for_action(Action, | missing_cap_for_action(Action, | ||
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\+ cap_available_on_robot(Cap, | \+ cap_available_on_robot(Cap, | ||
- | 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> | ||
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 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, | cap_available_on_robot(Cap, | ||
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+ | </ | ||
The matching procedure is equivalent for components. | The matching procedure is equivalent for components. |