Package edu.tufts.hrilab.action.annotations

Annotation Interface Condition

@Retention(RUNTIME) @Target(METHOD) @Repeatable(ConditionsContainer.class) public @interface Condition
Annotation used to specify a condition for an action. Can be repeated. We use the conjunctive normal form (CNF). Each @Condition annotation has to hold true. Within the @Condition annotation, at least one predicate has to hold true (disjunction). Put it simply, we're doing ANDs of ORs: (C1 and (C2.1 or C2.2) and C3). By default, each predicate part of the condition will tentatively be observed first, and, if not found, inferred in the StateMachine/Belief Component. It is possible to force the observation of a predicate by adding it to the observable array. In this case, the predicate will only be observed. If it can't be found, the StateMachine/Belief will not be checked. It is also possible to force a predicate to be only checked in Belief by adding it to the inferable array. Examples: - Standard condition. The free variable (?x) will be bound during checking (if found). \ @Condition(condition={"on(table,?x)"}, type = ConditionType.PRE) - Condition with two predicates. At least one of them has to hold true (disjunction). \ @Condition(condition={"on(table,?x)","on(shelf,?x)"}, type = ConditionType.PRE) - Same as above but on(table,?x) has to be observed, e.g. through Vision. \ @Condition(condition={"on(table,?x)","on(shelf,?x)"}, type = ConditionType.PRE, observable={"on(table,?x)"}) - This time on(table,?x) has to be inferred (in StateMachine/Belief) and will not be observed. \ @Condition(condition={"on(table,?x)","on(shelf,?x)"}, type = ConditionType.PRE, inferable={"on(table,?x)"})

  • Element Details

    • observable

      String[] observable
      Default:
      {}

    • inferable

      String[] inferable
      Default:
      {}