;;; **GRL OUTPUT FILE | Ver. 1.21**
;;; FILENAME: grloutput.scm
;;; CREATED: Tue Dec 12 16:04:18 2000
;;; GENERATED BY: Alan Kendall & Prashant Velagaleti


;;; Data & Calculations: (verbose)
;; numnodes = 12

;; distance 0 = 0
;; angle 0    = 0

;; distance 1 = 664.830805543786
;; angle 1    = 233.583621480114

;; distance 2 = 912.14034007931
;; angle 2    = 267.171673320009

;; distance 3 = 1030.92191750879
;; angle 3    = 268.54679044492

;; distance 4 = 1315.75073627188
;; angle 4    = 269.620248944319

;; distance 5 = 1467.7874505527
;; angle 5    = 276.393245343393

;; distance 6 = 1625.05384526175
;; angle 6    = 267.798414927669

;; distance 7 = 2140.09345590327
;; angle 7    = 267.452107455762

;; distance 8 = 2232.57698635456
;; angle 8    = 268.708854647403

;; distance 9 = 2568.26789879872
;; angle 9    = 275.741728983851

;; distance 10 = 2595.14932133009
;; angle 10    = 267.922176247059

;; distance 11 = 3285.18496435132
;; angle 11    = 0

(define-action (phase0-translation)
		(terminate-when (>= base-x 664.830805543786))
		(rt-vector 0 3000))

(define-action (phase1-rotation)
;; Negative rotation...
		(terminate-when (and (<= base-orientation 4.07680327356014)
				         (> base-orientation 3.14159265358979)))
		(rt-vector -2000 0))

(define-action (phase1-translation)
		(terminate-when (>= base-x 912.14034007931))
		(rt-vector 0 3000))

(define-action (phase2-rotation)
;; Negative rotation...
		(terminate-when (and (<= base-orientation 4.66302536749685)
				         (> base-orientation 3.14159265358979)))
		(rt-vector -2000 0))

(define-action (phase2-translation)
		(terminate-when (>= base-x 1030.92191750879))
		(rt-vector 0 3000))

(define-action (phase3-rotation)
;; Negative rotation...
		(terminate-when (and (<= base-orientation 4.68702568892711)
				         (> base-orientation 3.14159265358979)))
		(rt-vector -2000 0))

(define-action (phase3-translation)
		(terminate-when (>= base-x 1315.75073627188))
		(rt-vector 0 3000))

(define-action (phase4-rotation)
;; Negative rotation...
		(terminate-when (and (<= base-orientation 4.70576107412514)
				         (> base-orientation 3.14159265358979)))
		(rt-vector -2000 0))

(define-action (phase4-translation)
		(terminate-when (>= base-x 1467.7874505527))
		(rt-vector 0 4000))

(define-action (phase5-rotation)
;; Negative rotation...
		(terminate-when (and (<= base-orientation 4.82397216151469)
				         (> base-orientation 3.14159265358979)))
		(rt-vector -2000 0))

(define-action (phase5-translation)
		(terminate-when (>= base-x 1625.05384526175))
		(rt-vector 0 4000))

(define-action (phase6-rotation)
;; Negative rotation...
		(terminate-when (and (<= base-orientation 4.67396407210975)
				         (> base-orientation 3.14159265358979)))
		(rt-vector -2000 0))

(define-action (phase6-translation)
		(terminate-when (>= base-x 2140.09345590327))
		(rt-vector 0 4000))

(define-action (phase7-rotation)
;; Negative rotation...
		(terminate-when (and (<= base-orientation 4.66791986650072)
				         (> base-orientation 3.14159265358979)))
		(rt-vector -2000 0))

(define-action (phase7-translation)
		(terminate-when (>= base-x 2232.57698635456))
		(rt-vector 0 4000))

(define-action (phase8-rotation)
;; Negative rotation...
		(terminate-when (and (<= base-orientation 4.68985424286004)
				         (> base-orientation 3.14159265358979)))
		(rt-vector -2000 0))

(define-action (phase8-translation)
		(terminate-when (>= base-x 2568.26789879872))
		(rt-vector 0 5000))

(define-action (phase9-rotation)
;; Negative rotation...
		(terminate-when (and (<= base-orientation 4.81260105591008)
				         (> base-orientation 3.14159265358979)))
		(rt-vector -2000 0))

(define-action (phase9-translation)
		(terminate-when (>= base-x 2595.14932133009))
		(rt-vector 0 5000))

(define-action (phase10-rotation)
;; Negative rotation...
		(terminate-when (and (<= base-orientation 4.67612411461973)
				         (> base-orientation 3.14159265358979)))
		(rt-vector -2000 0))

(define-action (phase10-translation)
		(terminate-when (>= base-x 3285.18496435132))
		(rt-vector 0 5000))

(define-plan (gui-plan)
		(initially-running? #t)
		(scheme (reset-base-odometry!))
		(phase0-translation)
		(scheme (reset-base-odometry!))
		(phase1-rotation)
		(phase1-translation)
		(scheme (reset-base-odometry!))
		(phase2-rotation)
		(phase2-translation)
		(scheme (reset-base-odometry!))
		(phase3-rotation)
		(phase3-translation)
		(scheme (reset-base-odometry!))
		(phase4-rotation)
		(phase4-translation)
		(scheme (reset-base-odometry!))
		(phase5-rotation)
		(phase5-translation)
		(scheme (reset-base-odometry!))
		(phase6-rotation)
		(phase6-translation)
		(scheme (reset-base-odometry!))
		(phase7-rotation)
		(phase7-translation)
		(scheme (reset-base-odometry!))
		(phase8-rotation)
		(phase8-translation)
		(scheme (reset-base-odometry!))
		(phase9-rotation)
		(phase9-translation)
		(scheme (reset-base-odometry!))
		(phase10-rotation)
		(phase10-translation))

(try-signals (reset-odometry-on-startup)
		gui-plan
		(drive-base phase0-translation phase1-rotation phase1-translation phase2-rotation phase2-translation phase3-rotation phase3-translation phase4-rotation phase4-translation phase5-rotation phase5-translation phase6-rotation phase6-translation phase7-rotation phase7-translation phase8-rotation phase8-translation phase9-rotation phase9-translation phase10-rotation phase10-translation)
		(trace-value base-x)
		(trace-value base-orientation))