Only released in EOL distros:
Package Summary
AlicaEngine
- Author: Hendrik Skubch
- License: BSD
- External website: http://carpenoctem.das-lab.net/research/ALICA
- Source: git https://code.google.com/p/cn-alica-ros-pkg/ (branch: release_electric)
Package Summary
AlicaEngine
- Author: Hendrik Skubch
- License: BSD
- External website: http://carpenoctem.das-lab.net/research/ALICA
- Source: git https://code.google.com/p/cn-alica-ros-pkg/ (branch: release_fuerte)
Contents
The AlicaEngine is an execution layer for cooperative execution of Alica plans, which can be designed using the Planmodeller. It is written C# and runs under mono. It comes as library, meant to be integrated into an executable with additional features, such as a representation of the environment.
For installation and setup, best follow the example provided in the package alica_turtle.
API Details
The main namespace is Alica
Typical interactions take place through the singleton class AlicaEngine.
Action programs, called Behaviours inherit from BasicBehaviour
Domain specific components such as conditions and behaviours interact with specific parts of the internal state, encapsulated by a RunningPlan
The AutoDiff namespace provides primitives to formulate complex non-linear constraints, by writing to a ConstraintDescriptor from within a generated GetConstraint method. This version of AutoDiff is an adaptation of Alex Shtof's AutoDiff.
The currently preferred solver for these constraints is CGSolver, however, direct interaction with the solver is never necessary. Instead, components query the engine using a ConstraintQuery.