Interface with the World

Interface with the World

;;;********************************************************

;;; This is our model of the "real world".

;;;

;;; Initialization:

;;; (WORLD-INITIALIZE) sets the world to the state

;;; discussed in class

;;;

;;; Sensing

;;; (WORLD-MIN-POSITION)

;;; returns the smallest legal position index

;;; (WORLD-MAX-POSITION)

;;; returns the largest legal position index

;;; (WORLD-SENSE-POSITION n)

;;; returns a list of objects at

;;; that position. Index is 0-relative, and the list

;;; shows the topmost object first.

;;; (WORLD-SENSE-GRIPPER-CONTENTS)

;;; returns either NIL (gripper empty) or a feature list as above

;;; (WORLD-SENSE-GRIPPER-POSITION)

;;; returns a position

;;;

;;; Objects

;;; Every object returned by one of the sensing operations responds to

;;; (WOBJECT-COLOR wobject) => color

;;; (WOBJECT-SHAPE wobject) => shape

;;;

;;; Actions

;;; (WORLD-EXECUTE-COMMAND command-name &optional position) => NOTHING

;;; command-name is either :LIFT or :DROP or :MOVE

;;; the :MOVE command takes a position argument, the others do not.

;;; Note well: there is no indication from the world if the command

;;; is executed in error!

;;;