|
Jadex 0.96 | ||||||||
PREV AGENT NEXT AGENT | FRAMES NO FRAMES | ||||||||
SUMMARY: | BELIEF | GOAL | PLAN | EVENT | EXPRESSION | CONFIGURATION | DETAIL: BELIEF | GOAL | PLAN | EVENT | EXPRESSION | CONFIGURATION |
jadex.examples.cleanerworld.multi.cleaner.Cleaner
jadex.planlib.DF
jadex.planlib.Protocols
Belief Summary | |
belief Waste |
carriedwaste
The actual carried waste. |
beliefset Chargingstation |
chargingstations
The known charging stations. |
beliefset Cleaner |
cleaners
The known cleaners. |
belief boolean |
daytime
The actual daytime (day vs. night). |
belief IEnvironment |
environment
|
belief AgentIdentifier |
environmentagent
The connection to the environment (agent). |
belief CleanerGui |
gui
|
belief double |
my_chargestate
The battery charging state (1.0 full -> 0.0 empty). |
belief Location |
my_location
The current cleaner location. |
belief double |
my_speed
The speed. |
belief double |
my_vision
The radius describing how far the agent can see. |
beliefset Location |
patrolpoints
The points used for patrolling at night. |
beliefset int |
raster
The raster . |
beliefset MapPoint |
visited_positions
The statistics of visited map points. |
beliefset Wastebin |
wastebins
The known waste bins. |
beliefset Waste |
wastes
The known wastes. |
Goal Summary | |
achievegoal |
achievecleanup(Waste waste)
Clean up some waste. |
achievegoal |
achievedropwaste(Wastebin wastebin)
Drop a piece of waste into a wastebin. |
achievegoal |
achievemoveto(Location location)
Try to move to the specified location. |
achievegoal |
achievepickupwaste(Waste waste)
Pick up a piece of waste. |
achievegoalref |
df_search
Imported DF-Goals |
achievegoal |
drop_waste_action(Waste waste, Wastebin wastebin)
Drop a piece of waste. |
achievegoal |
get_vision_action(Vision vision)
Get the current vision. |
maintaingoal |
maintainbatteryloaded()
Observe the battery state. |
performgoal |
performlookforwaste()
Look out for waste when nothing better to do, what means that the agent is not cleaning, not loading and it is daytime. |
performgoal |
performmemorizepositions()
Memorize the already visited positions in a raster. |
performgoal |
performpatrol()
Perform patrols at night when the agent is not loading. |
achievegoal |
pickup_waste_action(Waste waste)
Pick up a piece of waste. |
querygoal |
querychargingstation(Chargingstation result)
Find the nearest charging station. |
querygoal |
querywastebin(Wastebin result)
Try to find a not full waste bin that is as near as possible to the agent. |
achievegoalref |
rp_initiate
|
Plan Summary | |
standard plan |
cleanup(Waste waste)
Clean up waste by picking it up and carrying it to a waste bin. |
standard plan |
dropwaste(Wastebin wastebin)
Drop a waste into a waste bin. |
standard plan |
exploremap()
This plan explores the map by walking to unknown positions. |
standard plan |
leastseenwalk()
Walk to the least seen positions. |
standard plan |
loadbattery()
Load the battery. |
standard plan |
localdropwasteaction(Waste waste, Wastebin wastebin)
Drop waste action. |
standard plan |
localgetvisionaction(Vision vision)
Drop waste action. |
standard plan |
localpickupwasteaction(Waste waste)
Pickup waste action. |
standard plan |
memorizepositions()
This plan memorizes the positions. |
standard plan |
moveto(Location location)
Move to a location. |
standard plan |
patrol()
Perform patrols. |
standard plan |
pickupwaste(Waste waste)
Pick up a waste. |
standard plan |
remotedropwasteaction(Waste waste, Wastebin wastebin)
Drop waste action. |
standard plan |
remotegetvisionaction(Vision vision)
Drop waste action. |
standard plan |
remotepickupwasteaction(Waste waste)
Pickup waste action. |
Expression Summary | |
expression |
query_in_vision_objects
Query all objects from the beliefs that are currently in sight. |
expression |
query_max_quantity
Query the max quantity map point. |
expression |
query_min_quantity
Query the map points ordered by their quantity (least ones first). |
expression |
query_min_seen
Query the map points ordered by their seen value (least ones first). |
Configuration Summary | |
default configuration |
default
|
Belief Detail |
belief IEnvironment environment
belief AgentIdentifier environmentagent
belief boolean daytime
true
belief Location my_location
new Location(0.2, 0.2)
belief double my_speed
3
belief double my_vision
0.1
belief double my_chargestate
0.85
belief Waste carriedwaste
belief CleanerGui gui
new CleanerGui($agent.getExternalAccess())
beliefset Waste wastes
beliefset Wastebin wastebins
beliefset Chargingstation chargingstations
beliefset Cleaner cleaners
beliefset int raster
10
10
beliefset MapPoint visited_positions
MapPoint.getMapPointRaster($beliefbase.raster[0].intValue(), $beliefbase.raster[1].intValue(), 1, 1)
beliefset Location patrolpoints
new Location(0.1, 0.1)
new Location(0.1, 0.9)
new Location(0.3, 0.9)
new Location(0.3, 0.1)
new Location(0.5, 0.1)
new Location(0.5, 0.9)
new Location(0.7, 0.9)
new Location(0.7, 0.1)
new Location(0.9, 0.1)
new Location(0.9, 0.9)
Goal Detail |
performgoal performlookforwaste()
$beliefbase.daytime
performgoal performpatrol()
!$beliefbase.daytime
performgoal performmemorizepositions()
achievegoal achievecleanup(Waste waste)
waste
Binding options:
$beliefbase.wastes
$beliefbase.daytime
true
$beliefbase.carriedwaste==null &&
!$beliefbase.getBeliefSet("wastes").containsFact($goal.waste)
(select one Wastebin $wastebin from $beliefbase.wastebins
where $wastebin.contains($goal.waste))!=null
performlookforwaste
achievecleanup
$beliefbase.my_location.getDistance($goal.waste.getLocation())
< $beliefbase.my_location.getDistance($ref.waste.getLocation())
achievegoal achievepickupwaste(Waste waste)
waste
achievegoal achievedropwaste(Wastebin wastebin)
wastebin
(select one Wastebin $wastebin
from $beliefbase.wastebins
where $goal.wastebin.getId().equals($wastebin.getId())).isFull()
achievegoal achievemoveto(Location location)
location
$beliefbase.my_location.isNear($goal.location)
achievegoal get_vision_action(Vision vision)
vision
achievegoal pickup_waste_action(Waste waste)
waste
achievegoal drop_waste_action(Waste waste, Wastebin wastebin)
waste
wastebin
querygoal querywastebin(Wastebin result)
result
Default value:
select one Wastebin $wastebin
from $beliefbase.wastebins
where !$wastebin.isFull()
order by $beliefbase.my_location.getDistance($wastebin.getLocation())
querygoal querychargingstation(Chargingstation result)
result
Default value:
select one Chargingstation $station
from $beliefbase.chargingstations
order by $beliefbase.my_location.getDistance($station.getLocation())
maintaingoal maintainbatteryloaded()
$beliefbase.my_chargestate > 0.2
$beliefbase.my_chargestate >= 1.0
performlookforwaste
achievecleanup
performpatrol
achievegoalref df_search
constraints
description
df
result
df_search
in capability jadex.planlib.DF
achievegoalref rp_initiate
action
interaction_state
language
ontology
receiver
result
timeout
rp_initiate
in capability jadex.planlib.Protocols
Plan Detail |
standard plan leastseenwalk()
performlookforwaste
standard plan exploremap()
querywastebin
querychargingstation
standard plan patrol()
performpatrol
standard plan cleanup(Waste waste)
waste
(goal mappings: achievecleanup.waste)
achievecleanup
standard plan pickupwaste(Waste waste)
waste
(goal mappings: achievepickupwaste.waste)
achievepickupwaste
standard plan dropwaste(Wastebin wastebin)
wastebin
(goal mappings: achievedropwaste.wastebin)
achievedropwaste
standard plan loadbattery()
maintainbatteryloaded
standard plan moveto(Location location)
location
(goal mappings: achievemoveto.location)
achievemoveto
standard plan memorizepositions()
performmemorizepositions
standard plan remotepickupwasteaction(Waste waste)
waste
(goal mappings: pickup_waste_action.waste)
pickup_waste_action
standard plan remotedropwasteaction(Waste waste, Wastebin wastebin)
waste
(goal mappings: drop_waste_action.waste)wastebin
(goal mappings: drop_waste_action.wastebin)
drop_waste_action
standard plan remotegetvisionaction(Vision vision)
vision
(goal mappings: get_vision_action.vision)
get_vision_action
standard plan localpickupwasteaction(Waste waste)
waste
(goal mappings: pickup_waste_action.waste)
pickup_waste_action
standard plan localdropwasteaction(Waste waste, Wastebin wastebin)
waste
(goal mappings: drop_waste_action.waste)wastebin
(goal mappings: drop_waste_action.wastebin)
drop_waste_action
standard plan localgetvisionaction(Vision vision)
vision
(goal mappings: get_vision_action.vision)
get_vision_action
Expression Detail |
expression query_in_vision_objects
select LocationObject $object
from SUtil.joinArbitraryArrays(new Object[]
{
$beliefbase.wastes,
$beliefbase.wastebins,
$beliefbase.chargingstations,
$beliefbase.cleaners
})
where $beliefbase.my_location.isNear($object.getLocation(), $beliefbase.my_vision)
expression query_max_quantity
select one MapPoint $mp
from $beliefbase.visited_positions
order by $mp.getQuantity() desc
expression query_min_quantity
select MapPoint $mp
from $beliefbase.visited_positions
order by $mp.getQuantity()
expression query_min_seen
select MapPoint $mp
from $beliefbase.visited_positions
order by $mp.getSeen()
Configuration Detail |
default configuration default
|
Jadex 0.96 | ||||||||
PREV AGENT NEXT AGENT | FRAMES NO FRAMES | ||||||||
SUMMARY: | BELIEF | GOAL | PLAN | EVENT | EXPRESSION | CONFIGURATION | DETAIL: BELIEF | GOAL | PLAN | EVENT | EXPRESSION | CONFIGURATION |
Copyright (C) 2002-2007 Lars Braubach, Alexander Pokahr - University of Hamburg. Use is subject to license terms.