Rename GOAP to RGOAP

goap/mainpage.dox → rgoap/mainpage.dox

@@ -2,7 +2,7 @@
 \mainpage
 \htmlinclude manifest.html
 
-\b goap 
+\b rgoap
 
 <!-- 
 Provide an overview of your package.

goap/manifest.xml → rgoap/manifest.xml

@@ -1,13 +1,13 @@
 <package>
-  <description brief="goap">
+  <description brief="rgoap">
 
-     GOAP implementation to be used with ROS, written in Python.
+     Robotic GOAP implementation to be used with ROS, written in Python.
 
   </description>
   <author>Felix Kolbe</author>
   <license>BSD</license>
   <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/goap</url>
+  <url>http://ros.org/wiki/rgoap</url>
 
   <depend package="rospy"/>
   <depend package="tf"/>

goap/src/goap/common_ros.py → rgoap/src/rgoap/common_ros.py

@@ -29,7 +29,7 @@
 # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
-import roslib; roslib.load_manifest('goap')
+import roslib; roslib.load_manifest('rgoap')
 import rospy
 
 import rostopic

goap/src/goap/introspection.py → rgoap/src/rgoap/introspection.py

@@ -37,20 +37,20 @@
 
 
 class Introspector(object):
-    """Gives insight to a planner's plan and GOAP net by publishing prepared
-    information to a smach_viewer.
+    """Gives insight to a RGOAP planner's plan and planning graph by
+    publishing prepared information to a smach_viewer.
     """
     def __init__(self):
-        self._pathprefix = '/GOAP_PLAN'
-        self._pathprefix_net = '/GOAP_NET'
+        self._pathprefix = '/RGOAP_PLAN'
+        self._pathprefix_net = '/RGOAP_NET'
         self._publisher_structure = rospy.Publisher(self._pathprefix + STRUCTURE_TOPIC, SmachContainerStructure, latch=True)
         self._publisher_status = rospy.Publisher(self._pathprefix + STATUS_TOPIC, SmachContainerStatus, latch=True)
         self._publisher_structure_net = rospy.Publisher(self._pathprefix_net + STRUCTURE_TOPIC, SmachContainerStructure, latch=True)
         self._publisher_status_net = rospy.Publisher(self._pathprefix_net + STATUS_TOPIC, SmachContainerStatus, latch=True)
 
 
     def publish_net(self, goal_node, start_node=None):
-        """Publishes a GOAP planning net, reconstructing it from with the goal node.
+        """Publishes an RGOAP planning net, reconstructing it from the goal node.
 
         The goal node will be set as the active state, as its userdata is displayed.
         """
@@ -98,7 +98,7 @@ def _add_nodes_recursively(node, structure):
         rospy.sleep(5)
 
     def publish(self, start_node, pathprefix=None):
-        """Publishes a planned GOAP plan
+        """Publishes a planned RGOAP plan
 
         The start node will be set as the active state, as its userdata is displayed.
         """

goap/src/goap/planning.py → rgoap/src/rgoap/planning.py

@@ -238,7 +238,7 @@ def plan(self, start_worldstate=None, goal=None):
 class PlanExecutor(object):
 
     def execute(self, start_node, introspector=None):
-        """Execute a GOAP plan, return True on success, False otherwise"""
+        """Execute an RGOAP plan, return True on success, False otherwise"""
         assert len(start_node.parent_nodes_path_list) == len(start_node.parent_actions_path_list)
 
         print 'list lengths: ', len(start_node.parent_nodes_path_list), len(start_node.parent_actions_path_list)

goap/src/goap/runner.py → rgoap/src/rgoap/runner.py

@@ -45,7 +45,7 @@
 from inheriting import Memory
 from planning import Planner, PlanExecutor
 from introspection import Introspector
-from smach_bridge import SMACHStateWrapperAction, GOAPNodeWrapperState
+from smach_bridge import SMACHStateWrapperAction, RGOAPNodeWrapperState
 from collections import OrderedDict
 
 
@@ -91,7 +91,7 @@ def __repr__(self):
     def _setup_introspection(self):
         # init what could have been initialized externally
         if not rospy.core.is_initialized():
-            rospy.init_node('goap_runner_introspector')
+            rospy.init_node('rgoap_runner_introspector')
         # init everything else but only once
         if self._introspector is None:
             self._introspector = Introspector()
@@ -129,7 +129,7 @@ def update_and_plan(self, goal, tries=1, introspection=False):
     def plan(self, goal, tries=1, introspection=False):
         """plan for given goal and return start_node of plan or None
 
-        introspection: introspect GOAP planning via smach.introspection
+        introspection: introspect RGOAP planning via smach.introspection
         """
         # check for any still uninitialised condition
         for (condition, value) in self.worldstate._condition_values.iteritems():
@@ -263,7 +263,7 @@ def plan_and_execute_goals(self, goals):
     def update_and_plan_and_execute(self, goal, tries=1, introspection=False):
         """loop that updates, plans and executes until the goal is reached
 
-        introspection: introspect GOAP planning and SMACH execution via
+        introspection: introspect RGOAP planning and SMACH execution via
                 smach.introspection, defaults to False
         """
         outcome = None
@@ -277,7 +277,7 @@ def update_and_plan_and_execute(self, goal, tries=1, introspection=False):
 
             if start_node is None:
                 # TODO: maybe at this point update and replan? reality might have changed
-                rospy.logerr("GOAP Runner aborts, no plan found!")
+                rospy.logerr("RGOAP Runner aborts, no plan found!")
                 return 'aborted'
 
             #success = PlanExecutor().execute(start_node)
@@ -287,7 +287,7 @@ def update_and_plan_and_execute(self, goal, tries=1, introspection=False):
                 break; # retry
 
             # check failure
-            rospy.logwarn("GOAP Runner execution fails, replanning..")
+            rospy.logwarn("RGOAP Runner execution fails, replanning..")
 
             self._update_worldstate()
             if not goal.is_valid(self.worldstate):
@@ -303,7 +303,7 @@ def execute_as_smach(self, start_node, introspection=False):
         sm = self._path_to_smach(start_node)
         # TODO: create proxies / userdata info for inner-sm introspection
         self._current_smach = sm
-        outcome = execute_smach_container(sm, introspection, name='/GOAP_GENERATED_SMACH')
+        outcome = execute_smach_container(sm, introspection, name='/RGOAP_GENERATED_SMACH')
         self._current_smach = None
         return outcome
 
@@ -325,7 +325,7 @@ def _path_to_smach(self, start_node):
                     node.action.translate_worldstate_to_userdata(next_node.worldstate, sm.userdata)
                 else:
                     StateMachine.add_auto('%s_%X' % (node.action.__class__.__name__, id(node)),
-                                          GOAPNodeWrapperState(node),
+                                          RGOAPNodeWrapperState(node),
                                           ['succeeded'])
 
                 node = next_node
@@ -341,8 +341,8 @@ def print_worldstate_loop(self):
 
 
 
-class GOAPRunnerState(State):
-    """Subclass this state to activate the GOAP planner from within a
+class RGOAPRunnerState(State):
+    """Subclass this state to activate the RGOAP planner from within a
     surrounding SMACH state container, e.g. the ActionServerWrapper
     """
     # TODO: maybe make this class a smach.Container and add states dynamically?
@@ -364,18 +364,18 @@ def execute(self, userdata):
                                           self._build_goal.__name__,
                                           self._build_goals.__name__))
 
-        print "Generated GOAP sub state machine returns: %s" % outcome
+        print "Generated RGOAP sub state machine returns: %s" % outcome
         if self.preempt_requested():
             self.service_preempt()
             return 'preempted'
         return outcome
 
     def _build_goal(self, userdata):
-        """Build and return a goap.Goal the planner should accomplish"""
+        """Build and return a rgoap.Goal the planner should accomplish"""
         raise NotImplementedError
 
     def _build_goals(self, userdata):
-        """Build and return a goap.Goal list the planner should accomplish"""
+        """Build and return a rgoap.Goal list the planner should accomplish"""
         raise NotImplementedError
 
     def request_preempt(self):

goap/src/goap/smach_bridge.py → rgoap/src/rgoap/smach_bridge.py

@@ -49,8 +49,8 @@
 
 
 
-class GOAPNodeWrapperState(State):
-    """Used (by the runner) to add GOAP nodes (aka instances of GOAP actions)
+class RGOAPNodeWrapperState(State):
+    """Used (by the runner) to add RGOAP nodes (aka instances of RGOAP actions)
     to a SMACH state machine"""
     def __init__(self, node):
         State.__init__(self, outcomes=['succeeded', 'aborted'])
@@ -74,7 +74,7 @@ def execute(self, userdata):
 class SMACHStateWrapperAction(Action):
     """A special Action to wrap a SMACH state.
 
-    Subclass this class to make a SMACH state available to GOAP planning.
+    Subclass this class to make a SMACH state available to RGOAP planning.
     """
     def __init__(self, state, preconditions, effects, **kwargs):
         Action.__init__(self, preconditions, effects, **kwargs)

goap/test/ConditionTest.py → rgoap/test/ConditionTest.py

@@ -31,7 +31,7 @@
 
 import unittest
 
-from goap.common import Condition
+from rgoap.common import Condition
 
 
 class ConditionTest(unittest.TestCase):

goap/test/MemoryTest.py → rgoap/test/MemoryTest.py

@@ -31,7 +31,7 @@
 
 import unittest
 
-from goap.inheriting import Memory
+from rgoap.inheriting import Memory
 
 
 class MemoryTest(unittest.TestCase):

goap/test/RunnerTest.py → rgoap/test/RunnerTest.py

@@ -4,16 +4,16 @@
 
 @author: felix
 '''
-import roslib; roslib.load_manifest('goap')
+import roslib; roslib.load_manifest('rgoap')
 import rospy
 
 from smach import Sequence
 
 from uashh_smach.util import SleepState, execute_smach_container
 from uashh_smach.platform.move_base import WaitForGoalState
-from uashh_smach.tasks.tasker import MoveBaseGOAPState
+from uashh_smach.tasks.tasker import MoveBaseRGOAPState
 
-from goap.runner import Runner
+from rgoap.runner import Runner
 
 
 def test_runner():
@@ -33,7 +33,7 @@ def test_runner():
         Sequence.add('WAIT_FOR_GOAL', wfg,
                      transitions={'aborted':'SLEEP'})
 
-        Sequence.add('MOVE_BASE_GOAP', MoveBaseGOAPState(runner),
+        Sequence.add('MOVE_BASE_RGOAP', MoveBaseRGOAPState(runner),
                      transitions={'succeeded':'SLEEP'})
 
     execute_smach_container(sq, enable_introspection=True)

goap/test/SmachGoapTest.py → rgoap/test/SmachRGOAPTest.py

@@ -34,20 +34,20 @@
 
 import rospy
 
-from goap.common import Condition, Precondition, Goal
-from goap.runner import Runner
-from goap.inheriting import MemoryCondition
+from rgoap.common import Condition, Precondition, Goal
+from rgoap.runner import Runner
+from rgoap.inheriting import MemoryCondition
 
-from goap.smach_bridge import LookAroundAction
+from rgoap.smach_bridge import LookAroundAction
 
-from goap import config_scitos
+from rgoap import config_scitos
 
 
 class Test(unittest.TestCase):
 
     @classmethod
     def setUpClass(cls):
-        rospy.init_node('smach_goap_test')
+        rospy.init_node('smach_rgoap_test')
 
     def setUp(self):
         self.runner = Runner() # config_scitos

goap/test/GOAPTestBumpered.py → rgoap/test/TestBumpered.py

@@ -35,20 +35,20 @@
 
 from geometry_msgs.msg import Pose, Point, Quaternion
 
-from goap.common import *
-from goap.inheriting import *
-from goap.common_ros import *
-from goap.runner import Runner
+from rgoap.common import *
+from rgoap.inheriting import *
+from rgoap.common_ros import *
+from rgoap.runner import Runner
 
-import goap.config_scitos as config_scitos
+import rgoap.config_scitos as config_scitos
 
 from uashh_smach.platform.move_base import position_tuple_to_pose
 
 
 
 if __name__ == "__main__":
 
-    rospy.init_node('goap_bumper_test', log_level=rospy.INFO)
+    rospy.init_node('rgoap_bumper_test', log_level=rospy.INFO)
 
     runner = Runner(config_scitos)
 

goap/test/GOAPTestMemory.py → rgoap/test/TestMemory.py

@@ -31,10 +31,10 @@
 
 import unittest
 
-from goap.common import *
-from goap.inheriting import *
-from goap.planning import Node
-from goap.runner import Runner
+from rgoap.common import *
+from rgoap.inheriting import *
+from rgoap.planning import Node
+from rgoap.runner import Runner
 
 
 #@unittest.skip

goap/test/common_ros_test.py → rgoap/test/common_ros_test.py

@@ -31,7 +31,7 @@
 
 import unittest
 
-from goap import common_ros
+from rgoap import common_ros
 
 from std_msgs.msg import Bool
 import rospy