Package blocks-world

A picture of the world
Example
The different kinds of blocks
Concrete block classes
The hand
Methods for the blocks world

A picture of the world

The block objects represent a world that "looks" like this:

/----\    ^    /---------\      ^
| b4 |   /  \  |         |     / \
\____/  /_w7_\ |         |     / \
/----\  /----\ |         |    /   \  /--------\        /^\
| b1 |  | b2 | | b3      |    /   \  | b6     |       (l8 )
\____/  \____/ \_________/   /_w5__\ \________/        \./
+-----------------------------------------------------------+
|                                                           |
+-----------------------------------------------------------+    

Example

In the initial configuration, where all blocks have been placed directly on the table (not shown), the blocks-world:put-on method will move the objects like this:

BLOCKS-WORLD> (put-on b1 b2)
Move hand to pick up B1 at location (1 2).
Grasp B1.
Removing support relations between B1 and TABLE.
Move B1 to top of B2 at location (2 2).
Adding support relations between B1 and B2.
Ungrasp B1.
T    

The different kinds of blocks

Movable blocks than can be moved onto load supporting blocks. Using multiple inheritance, there are also blocks that can do both.

Concrete block classes

These are the blocks found in our world.

The hand

The hand is movable. It can hold at most one block.

Methods for the blocks world