From: <mc...@us...> - 2009-05-31 17:06:53
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Revision: 16471 http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16471&view=rev Author: mcgann Date: 2009-05-31 17:06:41 +0000 (Sun, 31 May 2009) Log Message: ----------- Implemented recovery for the awakward case of an almost fully open door Modified Paths: -------------- pkg/branches/milestone2/highlevel/executive_trex/executive_trex_pr2/nddl/doors/door_controller.nddl Modified: pkg/branches/milestone2/highlevel/executive_trex/executive_trex_pr2/nddl/doors/door_controller.nddl =================================================================== --- pkg/branches/milestone2/highlevel/executive_trex/executive_trex_pr2/nddl/doors/door_controller.nddl 2009-05-31 16:58:17 UTC (rev 16470) +++ pkg/branches/milestone2/highlevel/executive_trex/executive_trex_pr2/nddl/doors/door_controller.nddl 2009-05-31 17:06:41 UTC (rev 16471) @@ -183,7 +183,7 @@ } else{ if(doorway_clear == true){ - contains_start(move_base.Active cmd); + contains_start(move_base_local.Active cmd); concurrent(cmd.end, end); leq(cmd.max_duration, 30); eq_pose_msg(cmd.object, dm_active.object); @@ -434,9 +434,15 @@ else{ if(status == UNDEFINED){} else { + // Rest control flags to go back to the beginning but preclude checking the doorway starts(door_controller.Holds dc); - eq(dc.finishing, true); eq(dc.doorway_clear, false); + eq(dc.in_position, false); + eq(dc.found_door, false); + eq(dc.must_find_handle, true); + eq(dc.have_handle, false); + eq(dc.latch_state, UNKNOWN); + eq(dc.doorway_clear, false); } } } This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |