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--- software:cram:development_experiences:new_goals [2013/04/26 11:22] – created bartelsg
+++ software:cram:development_experiences:new_goals [2016/05/19 09:19] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
 ===== How to register and achieve a new goal =====
+==== A plan for a new goal ====
+Let's assume we wanna write a plan to achieve a new goal, e.g. to flip a pancake. Best practice is to put this plan into one of the source-files of a plan library, e.g. cram_plan_library:
+<code lisp>
+(def-goal (achieve (flip-pancake ...))
+  (with-designators ((action-desig
+                       (action `((to flip))))
+                     ...)
+    ...
+    (perform action)))
+</code>
+If you want other packages to also use this plan, export the goal-symbol in the package.lisp of the your plan library. Make sure to also export all designator properties used in your plan:
+<code lisp>
+(desig-props:def-desig-package cram-plan-library
+ ...
+ (:export #:...
+          #:flip-pancake
+          ...)
+ (:desig-properties #:to #:flip ...))
+</code>
+Catch #1: If you one of your manipulation process modules, e.g. the pr2_manipulation_process_module, uses the same designator properties it also has to export the same properties. I (Georg) do not understand why but Jan says this necessary for them to talk about the same symbol.
+Catch #2: You also need to export the goal-symbol, i.e. flip-pancake, from the package cram_plan_knowledge! The reason for this was not clear at the time of writing... Thus, yuo also need to add #:flip-pancake to package.lisp of cram_plan_library. Otherwise you will get a warning like this when trying to achieve flip-pancake:
+<code>
+WARNING:
+   Trying to prove goal (FLIP-PANCAKE
+                         #<OBJECT-DESIGNATOR ((TYPE PANCAKE))
+                           {100926AF61}>) with undefined functor CRAM-PLAN-LIBRARY:FLIP-PANCAKE.
+</code>
+==== How to use/achieve the new plan ====
+You can now try to achieve your new goal like this:
+<code lisp>
+(top-level
+  (cpm:with-process-modules-running
+      (pr2-manipulation-process-module)
+    (achieve `(flip-pancake))))
+</code>
+You need to make sure that cram_environment_representation is loaded (either in your package that uses cram_plan_library or in your REPL). Otherwise (holds ...) will not be known.