Space classification

These are frames built with the situation system. They monitor the default-polly-pipeline and activate and deactivate themselves as the robot moves through different kinds of spaces.

Low-level signals

see-left-wall?, see-right-wall?, see-wall-ahead?: True when the respective wall is in view right now.
seen-left-wall?, seen-right-wall?, seen-wall-ahead?: True when the respective wall has been seen in a nearby pose (i.e. close in location and orientation).
open-left?, open-right?: True when a gap in the wall has been seen in a nearby pose.

Base-level frames

corridor: Active when the robot appears to be in a corridor, i.e. when there have recently been walls visible on both sides.
left-turn: Active when the robot is in a corridor and sees space to turn on the left
right-turn: Active when the robot is in a corridor and sees space to turn on the right
left-corner: Active when the robot is at a left turn and there is a wall ahead blocking the way.
right-corner: Active when the robot is at a right turn and there is a wall ahead blocking the way.
dead-end: Active when the robot is in a corridor, is not at a turn, and there is a wall ahead blocking the way.
t-intersection: Active when the robot is there is a wall ahead blocking the way and there are turns to either side.

Superordinate frames

place-category: Parent of all place frames. Useful only in telling you when you have no idea what kind of a space you're in.
turn: Parent of all the turns, corners, and intersections.
corner: Parent of just the corners.

Monitoring and debugging

(show-hallway): Displays a schematic diagram of where the robot presently believes there are walls.
(show-lines): Displays the lines fitted to the left-, right-, and center-regions of the default polly pipeline.
space-classification-status-display: A blink-events window showing which space classification frames are presently active.