{"id":809,"date":"2017-06-19T03:41:48","date_gmt":"2017-06-18T18:41:48","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=809"},"modified":"2017-06-20T00:55:42","modified_gmt":"2017-06-19T15:55:42","slug":"production-clp-%e3%81%ab%e9%96%a2%e3%81%99%e3%82%8b%e8%80%83%e5%af%9f","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=809","title":{"rendered":"production.clp \u306b\u95a2\u3059\u308b\u8003\u5bdf"},"content":{"rendered":"<ul>\n<li>\u6a5f\u5185\u3067\u5206\u304b\u3063\u305f\u3053\u3068\u30e1\u30e2<\/li>\n<li>\u5bdd\u308b\u524d\u306e\u30bf\u30b9\u30af\u30e1\u30e2<\/li>\n<li>\u8d77\u304d\u3066\u304b\u3089\u306e\u30e1\u30e2<\/li>\n<li>\u4e00\u5468\u56de\u3063\u3066\u308f\u304b\u3063\u305f\u3053\u3068<\/li>\n<li>\u7b54\u3048\u5408\u308f\u305b<\/li>\n<\/ul>\n<p>&#8212;<br \/>\n\u6a5f\u5185\u3067\u5206\u304b\u3063\u305f\u3053\u3068\u30e1\u30e2<\/p>\n<p>1. cfg\/conf.d\/navgraph-generator.yaml \u306e save-to-file\/filename \u306f\uff0cnavgraph \u304c\u4e0a\u66f8\u304d\u3059\u308b\u306e\u3067\uff0cnavgraph-generated.yaml \u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\uff08navgraph-basis.yaml \u306f\u6307\u5b9a\u3057\u3061\u3083\u3060\u3081\uff01\uff09<\/p>\n<p>2. exploration phase \u304b\u3089 production phase \u306b\u5909\u308f\u308b\u6642\u306b\uff0c\u30ce\u30fc\u30c9\u3092\u5168\u3066\u524a\u9664\u3057\u3066\u304b\u3089\uff0ccfg\/conf.d\/navgraph-generator.yaml \u306enavgraph-generator-mps\/base-graph \u3092\u8aad\u307f\u8fbc\u3093\u3067\u3044\u308b\u3063\u307d\u3044\uff0e<br \/>\n \u305d\u306e\u969b\u306b\uff0conly-copy-properties \u304c\u6700\u521d\u306b\u66f8\u3044\u3066\u3044\u308b\u30ce\u30fc\u30c9\u306f\uff0c\u65e2\u5b58\u306e\u30ce\u30fc\u30c9\u30c7\u30fc\u30bf\u306b\u4e0a\u66f8\u304d\u3057\u307e\u3059\uff0e<br \/>\n \u3068\u3053\u308d\u304c\uff0c\u30ce\u30fc\u30c9\u3092\u5168\u524a\u9664\u3057\u3066\u3044\u308b\u306e\u3067\uff0c\u300c\u305d\u3093\u306a\u30ce\u30fc\u30c9\u898b\u3064\u304b\u3089\u306a\u3044\u3088\u300d\u30a8\u30e9\u30fc\u304c\u51fa\u308b\u308f\u3051\u3067\u3059\uff0e<\/p>\n<p>3. navgraph_generator_mps_thread.cpp \u3092\u4fee\u6b63\u3057\u3066\uff0c\u300cproduction-properties\u300d\u3068\u3044\u3046\u30d7\u30ed\u30d1\u30c6\u30a3\u3092\u8ffd\u52a0\u3057\u3066\u307f\u307e\u3057\u305f\uff0e\u65b0\u898f\u3067\u30ce\u30fc\u30c9\u3092\u8ffd\u52a0\u3057\u307e\u3059\uff0e<br \/>\n \u305f\u3060\uff0c\u3053\u308c\u3067\u8ffd\u52a0\u3059\u308b\u3068\uff0c\u30c1\u30fc\u30e0\u30ab\u30e9\u30fc\u306b\u5bfe\u5fdc\u3057\u305f\u65b0\u3057\u3044\u30ce\u30fc\u30c9\u3082\u8ffd\u52a0\u3055\u308c\u307e\u3059\uff08\u8ffd\u52a0\u30ce\u30fc\u30c9\u306e\u5ea7\u6a19\u306e\u8a08\u7b97\u7406\u7531\u304c\u3044\u307e\u3044\u3061\u4e0d\u660e\uff09<br \/>\n \u4f8b\u3048\u3070C-BS \u306e\u60c5\u5831\u306b\u5bfe\u3057\u3066\uff0cC-BS \u3068\uff0cC-C-BS\u3092\u8ffd\u52a0\u3057\u307e\u3059\uff0e<br \/>\n \u306a\u3093\u304b\uff0c\u4f7f\u3044\u65b9\u3092\u9593\u9055\u3048\u3066\u3044\u308b\u6c17\u304c\u3057\u307e\u3059\u2026<\/p>\n<p>4. \u3042\u3068\uff0cproduction.clp \u3067\u4f7f\u3063\u3066\u3044\u305f get_product_from.lua  \u3067\u3059\u304c\uff0c\u3053\u308c\u306f\u30ce\u30fc\u30c9\u540d\u306b\u5bfe\u3057\u3066\u300c-I\u300d\u307e\u305f\u306f\u300c-O\u300d\u3092\u8ffd\u52a0\u3057\u305f\u30ce\u30fc\u30c9\u540d\u306e\u5834\u6240\u306b\u79fb\u52d5\u3059\u308blua \u3067\u3059\uff0e<br \/>\n \u305d\u306e\u305f\u3081\uff0cC-BS \u3092\u6307\u5b9a\u3059\u308b\u3068\u304d\u306b\u306f\uff0cC-BS-I \u3082\u3057\u304f\u306f C-BS-O \u306e\u30ce\u30fc\u30c9\u304c\u306a\u3044\u3068\uff0cinvalid point \u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n<p>5. \u305d\u3053\u3067\u6d6e\u304b\u3093\u3060\u7591\u554f\u3067\u3059\u304c\uff0cProduction Phase \u306eRefBox \u304b\u3089\u53d7\u3051\u53d6\u308bMPS \u306e\u60c5\u5831\u3063\u3066\uff0c\u3069\u3053\u307e\u3067\u3042\u308a\u307e\u3057\u305f\u3063\u3051\uff1f<br \/>\n \u89d2\u5ea6\u60c5\u5831\u3063\u3066\uff0c\u542b\u307e\u308c\u3066\u3044\u307e\u3057\u305f\uff1f<br \/>\n \u3082\u3057\u304f\u306f\uff0c360\u5ea6\u3067\u306f\u306a\u304f180\u5ea6\u307e\u3067\u3068\u304b\uff1f<br \/>\n MPS\u306e\u5ea7\u6a19\u306f\uff0c\u30be\u30fc\u30f3\u540d\u304b\u3089\u7372\u5f97\u3067\u304d\u307e\u3059\u304c\uff0c\u3082\u3057\u304b\u3057\u3066\u5411\u304d\u304c\u308f\u304b\u3089\u306a\u3044\u306e\u3067\uff0ctag \u3092\u898b\u305f\u6642\u306b\u3088\u3046\u3084\u304f -I \u3068 -O \u306e\u30dd\u30a4\u30f3\u30c8\u304c\u5206\u304b\u308b\u306e\u3067\u306f\u306a\u3044\u3067\u3057\u3087\u3046\u304b\uff1f<br \/>\n \u3064\u307e\u308a\uff0cProduction Phase \u306b\u5165\u3063\u305f\u77ac\u9593\u3060\u3068\uff0cMPS \u60c5\u5831\u3092\u3070\u3089\u6492\u3051\u306a\u3044\u306e\u3067\u306f\uff1f<br \/>\n => \u3060\u304b\u3089\uff0cPOI \u306e\u8b66\u544a\u304c\u3067\u308b\uff0e<br \/>\n \uff08\u30a8\u30e9\u30fc\u3067\u306a\u3044\u3068\u3053\u304c\uff0c\u30df\u30bd\u3067\u3059\uff0e\u666e\u901a\u306a\u3089\u30a8\u30e9\u30fc\u3067\u6b62\u3081\u308b\u3079\u304d\u4e8b\u6848\u3060\u3068\u601d\u3044\u307e\u3059\uff09<\/p>\n<p>\u3068\u3044\u3046\u308f\u3051\u3067\u3001\u3082\u3057\u304b\u3059\u308b\u3068POI\u306f\u7121\u8996\u3057\u3066\u9032\u3081\u308b\u3079\u304d\u4e8b\u6848\u306a\u6c17\u304c\u3057\u307e\u3059\u3002<br \/>\n\u304b\u308f\u308a\u306b\u3001C-BS\u306b\u884c\u304f\u306e\u3067\u306f\u306a\u304f\u3001MPS\u4ee5\u5916\u306e\u30dd\u30a4\u30f3\u30c8\u540d\u3067\u79fb\u52d5\u3055\u305b\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u306e\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002<\/p>\n<p>&#8212;<br \/>\n\u5bdd\u308b\u524d\u306e\u30bf\u30b9\u30af\u30e1\u30e2<br \/>\n1. globals.clp \u306e\u767a\u706b\u306e\u78ba\u8a8d\u30b3\u30fc\u30c9\u306ecommit<br \/>\n2. task-lock \u3067\uff0ctask \u3092\u304b\u3076\u3089\u306a\u3044\u3088\u3046\u306b\u3059\u308b<br \/>\n(\u305f\u3060\u3057\uff0c\u73fe\u6bb5\u968e\u3067MPS\u306e\u30ed\u30c3\u30af\u306f\u884c\u3063\u3066\u3044\u308b\u306f\u305a\u306a\u306e\u3067\uff0c\u512a\u5148\u9806\u4f4d\u3092\u4e0b\u3052\u3066\u3082\u826f\u3044\u306f\u305a)<br \/>\n3. \u30aa\u30fc\u30c0\u30fc\u51e6\u7406<br \/>\n(\u3053\u308c\u306f\uff0c\u30bf\u30b9\u30af\u306e\u30ed\u30c3\u30af\u3067\u5b9f\u73fe\u3059\u308b\u306e\u304c\u826f\u3044\u65b9\u6cd5) <\/p>\n<p>4. \u5e02\u5ddd\u541b\u306b\u8074\u8b1b\u3057\u3066\u304d\u3066\u6b32\u3057\u3044\u30ea\u30b9\u30c8\u4f5c\u6210<br \/>\n5. You, * \u8003\u3048\u308b<br \/>\n6. \u660e\u65e5\u306e\u30bc\u30df\u3092\u8003\u3048\u308b<\/p>\n<p>&#8212;<br \/>\n\u8d77\u304d\u3066\u304b\u3089\u306e\u30e1\u30e2<\/p>\n<p>Production Phase \u306b\u5165\u3063\u305f\u3068\u304d\u306b\uff0cRefBox \u304b\u3089\u306e\u60c5\u5831\u3092\u4f7f\u3063\u3066MPS \u306e\u60c5\u5831\u3092\u66f4\u65b0\u3057\u305f\u3044\uff0e<\/p>\n<ul>\n<li>\u30dd\u30a4\u30f3\u30c8\u306e\u8ffd\u52a0\u306f\uff0csrc\/plugins\/navgraph-generator-mps\/navgraph_generator_mps_thread.cpp \u3060\u304b\u3089\uff0c\u3053\u3053\u3067\u60c5\u5831\u3092\u53d7\u3051\u53d6\u3063\u3066\u8ffd\u52a0\uff1f<br \/> \u2192 refbox \u306e\u60c5\u5831\u3092\u53d7\u3051\u53d6\u3063\u3066\u3044\u308b\u306e\u306fCLIPS \u3063\u307d\u3044\uff0e<\/li>\n<li>net.clp \u306b ?pf <- (protobuf-msg (type \"llsf_msgs.MachineInfo\") (ptr ?p)) \u3092\u8ffd\u52a0\uff1f<br \/> \u2192 \u767a\u706b\u3057\u306a\u3044\u2026\uff0e<\/li>\n<li>worldmodel.clp \u306b\u305d\u306e\u3082\u306e\u767a\u898b\uff0ewm-recv-MachineInfo \u3092\u78ba\u8a8d\uff0e<br \/> \u2192 printout \u3092\u6709\u52b9\u306b\u3057\u3066\u3082\u73fe\u308c\u305a<\/li>\n<li>cfg\/conf.d\/clips-protobuf.yaml \u306b\u3066\uff0cunwatch-facts: [protobuf-msg] \u3068\u3057\u3066\u9664\u5916\u3055\u308c\u3066\u3044\u307e\u3057\u305f\uff0e<br \/> \u2192 \u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3057\u305f\u3089\uff0cprintout \u306e\u4e2d\u8eab\u304c\u8868\u793a\u3055\u308c\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\uff0e<\/li>\n<li>Production Phase \u3067\uff0crefbox \u306f\uff0c\u4f4d\u7f6e\uff0c\u5411\u304d\u60c5\u5831\u3092\u30a2\u30ca\u30a6\u30f3\u30b9\u3057\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\uff0e<br \/> \u2192 \u4eca\u3053\u3053<\/li>\n<\/ul>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n09:30:09.022433 CLIPS (agent): update zone info C-CS1 at Z3 (NOT-SET, NOT-SET) (NOT-SET)\r\n09:30:09.022519 CLIPS-Protobuf: Field x of llsf_msgs.Pose2D not set\r\n09:30:09.022602 CLIPS-Protobuf: Field y of llsf_msgs.Pose2D not set\r\n09:30:09.024014 CLIPS-Protobuf: Field ori of llsf_msgs.Pose2D not set\r\n<\/pre>\n<p>zone \u60c5\u5831\u306e\u307f\u306e\u901a\u77e5\u3067\u3059\uff0e<br \/>\n\u304a\u305d\u3089\u304f\u4f4d\u7f6e\u3068\u5411\u304d\u306f\uff0c\u6614\u306e\u30d1\u30c3\u30af\u3092\u4f7f\u3063\u3066\u3044\u305f\u3053\u308d\u306e\u540d\u6b8b\u308a\u3067\u3059\uff0e<br \/>\n\u305d\u306e\u305f\u3081\uff0cProduction \u6642\u306b\u3082\uff0ctag \u3092\u898b\u3066\u8868\u88cf\u306e\u5224\u5225\u3068\u89d2\u5ea6\u306e\u63a8\u6e2c\u304c\uff0c\u5fc5\u8981\u306b\u306a\u308b\u3063\u307d\u3044\u3067\u3059\uff0e<br \/>\nProduction Phase \u958b\u59cb\u6642\u306b\uff0cnavgraph \u306e\u30dd\u30a4\u30f3\u30c8\u3070\u3089\u6492\u304d\u306f\uff0c\u4e0d\u53ef\u3067\u3059\uff0e<br \/>\nCarologistics \u306f\uff0cExploration Phase \u306b\u305d\u308c\u3089\u306e\u60c5\u5831\u3092\u96c6\u3081\u3066\u5229\u7528\u3057\u3066\u3044\u307e\u3059\uff0e<br \/>\nSimulation League \u3082\uff0c\u7d50\u5c40Exploration Phase \u3092\u52d5\u304b\u3055\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u3063\u307d\u3044\u3067\u3059\uff0e<\/p>\n<p>&#8212;-<br \/>\n\u4e00\u5468\u56de\u3063\u3066\u308f\u304b\u3063\u305f\u3053\u3068<\/p>\n<p>\u306a\u3093\u3068\u304b\uff0c\u5f37\u5f15\u306b\u3070\u3089\u307e\u3051\u306a\u3044\u304b\u306a\u3041\u3068navgraph.clp \u3092\u898b\u3066\u3044\u305f\u3089\uff0c<br \/>\n\u306a\u3093\u3068\u305d\u306e\u3082\u306e\u305a\u3070\u308a\u3092\u898b\u3064\u3051\u307e\u3057\u305f\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n(defrule navgraph-sim-add-found-tags-when-added-by-ground-truth\r\n  &quot;When the gazsim-navgraph-generator plugin is used to add the navgraph points to test production without exploration, we have to add the found-tags&quot;\r\n<\/pre>\n<p>\u300c\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u4f7f\u3046\u6642\u306b\uff0cexploration phase \u7121\u3057production phase \u3092\u8a66\u3059\u305f\u3081\u306b\uff0cnavgraph \u306e\u70b9\u3092\u8ffd\u52a0\u3059\u308b\u305f\u3081\u306bgazsim-navgraph-generator plugin \u3092\u4f7f\u3046\u6642\uff0cfound-tags \u3092\u8ffd\u52a0\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\u300d\u3068\u306e\u3053\u3068\u3067\u3059\uff0e<\/p>\n<p>\u3061\u306a\u307f\u306b\uff0c\u767a\u706b\u6761\u4ef6\u306e(not (sim-was-in-exploration)) \u3067\u3059\u304c\uff0csim.clp \u306b\u3066\uff0cexploration phase \u306b\u5165\u3063\u305f\u3089sim-was-in-exploration \u304c\u751f\u6210\u3055\u308c\u307e\u3059\u306e\u3067\uff0cexploration phase \u306b\u5165\u3089\u305a\u306bproduction phase \u306b\u5165\u3063\u305f\u3089\uff0c\u767a\u706b\u3059\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n<p>\u305f\u3060\uff0c(navgraph-node (name ?mps-o-str&#038;:(eq ?mps-o-str (str-cat ?mps &#8220;-O&#8221;)))) \u304c\u6e80\u305f\u3057\u3066\u3044\u306a\u3044\u611f\u3058\u304c\u3057\u307e\u3059\uff0e<br \/>\n\u8abf\u67fb\u3057\u307e\u3059\uff0e<\/p>\n<p>&#8212;<br \/>\n\u7b54\u3048\u5408\u308f\u305b<\/p>\n<ol>\n<li>navgraph \u95a2\u4fc2\u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306f\uff0cnavgraph-basis.yaml \u3067OK \u3067\u3059\uff08cfg\/conf.d\/navgraph.yaml \u3068 cfg\/conf.d\/navgraph-genarator.yaml\uff09\uff0e<\/li>\n<li>\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u4f7f\u3046\u6642\uff0cExploration Phase \u3092\u98db\u3070\u3057\u3066Production Phase \u3092\u6307\u5b9a\u3057\u307e\u3059\uff0e<\/li>\n<li>webview \u3067\uff0cgazsim-navgraph-generator plugin \u3092load \u3057\u307e\u3059\uff08ffplugin \u3060\u3068\uff0c\u30dd\u30fc\u30c8\u306e\u6307\u5b9a\u304c\u3084\u3084\u3053\u3057\u3044\u3067\u3059\uff09<\/li>\n<li>Production Phase \u7528\u306eNavgraph \u7d4c\u8def\u304c\u7528\u610f\u3055\u308c\u307e\u3059\uff0e<\/li>\n<li>\u30b9\u30da\u30fc\u30b9\u30ad\u30fc\u3092\u62bc\u3057\u3066\uff0cGame State \u3092Running \u306b\u5909\u66f4\u3057\u307e\u3059\uff0e<\/li>\n<li>\u8a66\u5408\u3092\u697d\u3057\u3093\u3067\u304f\u3060\u3055\u3044\uff0e<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>\u6a5f\u5185\u3067\u5206\u304b\u3063\u305f\u3053\u3068\u30e1\u30e2 \u5bdd\u308b\u524d\u306e\u30bf\u30b9\u30af\u30e1\u30e2 \u8d77\u304d\u3066\u304b\u3089\u306e\u30e1\u30e2 \u4e00\u5468\u56de\u3063\u3066\u308f\u304b\u3063\u305f &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=809\"> <span class=\"screen-reader-text\">production.clp \u306b\u95a2\u3059\u308b\u8003\u5bdf<\/span> \u7d9a\u304d\u3092\u8aad\u3080 &raquo;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_crdt_document":"","footnotes":""},"categories":[10,15,3,2],"tags":[],"class_list":["post-809","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-icaps2017","category-logistics-league","category-robocup"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/809","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=809"}],"version-history":[{"count":12,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/809\/revisions"}],"predecessor-version":[{"id":825,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/809\/revisions\/825"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=809"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=809"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=809"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}