Defined Koala Planning Terms
----------------------------

*denotes terms in the global interpreter.

Actions
-------

move_north	Turn to 270 deg and move in the +y direction (as defined by the location system) 200mm.
move_south	Turn to 90 deg and move in the -y direction 200mm.
move_west	Turn to 180 deg and move in the -x direction 600mm.
move_east	Turn to 0 deg and move in the +x direction 600mm.
(move x)	Move to symbolic location x, and avoid obstacles on the way. Uses a GoToTask. If execution takes longer than 30 seconds, a FailedEvent is generated.
(move x robot)*				Move robot to symbolic location x, and avoid obstacles on the way.
(follow follower leader)*		Move follower to meet leader, and avoid obstacles on the way.
(rescue p hero damsel)*			Invoke a rescue subplan to have hero "save" the "stuck" robot damsel in symbolic position p.
(pickup p item robot)*			Make robot pick up the item (only 1 item allowed at present) from position p (simulated in software).
(putdown p item robot)*			Make robot put down the item at position p (simulated in software).
(slave_mode_on robot)*			Puts robot into "slave" mode.
(initiate_follow follower leader)*	Sets (following...) appropriately.

Conditions
----------

(= (position) p)	True if the position returned by the camera is (roughly) equal to the position
			which symbolic location p corresponds to.

(blocked d)		True if there is an obstacle (roughly) in the symbolic direction d.
(visible p)		True if there is a camera which can observe symbolic location p.
(stuck robot)*			True if robot is "stuck" (simulated).
(slave robot)*			True if robot is a slave.
(has robot item)*		True if robot "has" the item (only 1 item is allowed at present) (simulated in software).
(= (robot_loc robot) p)*	True if the position returned by the camera of robot is (roughly) equal to the position
				which symbolic location p corresponds to.
(= (item_loc item) p)*		True if the item (the only one allowed at present) is known to be in symbolic location p
				(simulated in software). If the item is held by a robot, this is ambiguous.
(following follower leader)*	True if follower is set to follow and leader is set to lead.

Symbolic locations
------------------

northwest	(-300, 1400)
nw
southwest	(-300, 1200)
sw
northeast	(300, 1400)
ne
southeast	(300, 1200)
se
loc1		(505, 2200)
loc2		(-505, 2200)
base		(0, 2400)

Symbolic robots
---------------
koala1=robot1=dserobot1=green
koala2=robot2=dserobot2=red

Symbolic directions
-------------------

n		In the +y direction.
s		In the -y direction.
e		In the +x direction.
w		In the -x direction.
ahead		In front of the robot.
behind		Behind the robot.
left		On the left hand side of the robot.
right		On the right hand side of the robot.