def ros_style_midca():
myMidca = base.MIDCA(None, verbose=2)
for phase in ["Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
myMidca.append_module("Perceive", perceive.ROSObserver())
myMidca.append_module("Interpret", guide.InstructionReceiver_sr())
myMidca.append_module("Eval", evaluate.EvalPointingFromFeedback())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module(
"Plan",
planning.AsynchPyhopPlanner(methods_sr.declare_methods,
operators_sr.declare_ops))
myMidca.append_module("Act", act.AsynchronousAct())
return myMidca
def ros_style_midca():
myMidca = base.MIDCA(None, verbose=2)
for phase in ["Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
myMidca.append_module("Perceive", ROSObserver.ROSObserver())
myMidca.append_module("Interpret",
InstructionReceiver.InstructionReceiver())
myMidca.append_module("Eval",
EvalPointingFromFeedback.EvalPointingFromFeedback())
myMidca.append_module("Intend", SimpleIntend.SimpleIntend())
myMidca.append_module(
"Plan",
AsynchPyhopPlanner.AsynchPyhopPlanner(methods.declare_methods,
operators.declare_ops,
monitors.declare_monitors))
myMidca.append_module("Act", AsynchronousAct.AsynchronousAct())
return myMidca