// begin of perception.pl code file.

// begin of unit perception code.

final class perception_perception_2 extends Code {

public boolean exec (DLP m) {

	switch (m.PSreg) {

		// head: perception(_G417, _G418)

	case 0:
		//m.success =
		m.get_x_varia (10,1);	/* Name */
		m.get_x_varia (11,2);	/* BeliefBase */
		m.end_head ();
		break;

	case 1:

		// goal: localisation(_G417, _G418)

		m.put_x_value (10,1);	/* 'Name' */
		m.put_x_value (11,2);	/* 'BeliefBase' */
		m.exec (1);	/* localisation_2 */
		break;

	case 2:
		m.end_rule ();
		break;

	} // switch
	return m.success;
} // perception:perception/2 exec()

// perception:perception/2 decls.
// end of perception:perception/2 decls.

public boolean init (DLP m) {
 return true;
} // perception:perception/2 init()

} // perception:perception/2

final class perception_localisation_2 extends Code {

public boolean exec (DLP m) {

	switch (m.PSreg) {

		// head: localisation(_G417, _G418)

	case 0:
		m.allocate (10);
		//m.success =
		m.get_y_value (5,1);	/* Name */
		m.get_y_value (0,2);	/* BeliefBase */
		m.end_head ();
		break;

	case 1:

		// goal: getRotation(_G417, _G427, _G428, _G429, _G430)

		m.put_y_value (5,1);	/* 'Name' */
		m.put_v_varia (2);	/* 'Unknown' */
		m.put_v_varia (3);	/* 'Unknown' */
		m.put_v_varia (4);	/* 'Unknown' */
		m.put_y_value (6,5);	/* 'R1' */
		m.call (5) /*2*/;	/* getRotation_5 */
		break;

	case 2:

		// goal: getSFVec3f(_G417, translation, _G437, _G438, _G439)

		m.put_y_value (5,1);	/* 'Name' */
		m.put_atom (translation__0,2);
		m.put_y_value (9,3);	/* 'X1' */
		m.put_y_value (8,4);	/* 'Y1' */
		m.put_y_value (7,5);	/* 'Z1' */
		m.call (6) /*2*/;	/* getSFVec3f_5 */
		break;

	case 3:

		// goal: <-(this, _G418, add_attr(belief, position(_G437, _G438, _G439)))

		m.put_struct (position__3,13);
		m.set_y_value (9);	/* 'X1' */
		m.set_y_value (8);	/* 'Y1' */
		m.set_y_value (7);	/* 'Z1' */
		m.put_this (1);
		m.put_y_value (0,2);	/* 'BeliefBase' */
		m.put_struct (add_attr__2,3);
		m.set_atom (belief__0);
		m.set_x_value (13);	/* 'Xtmp' */
		m.call (dlplib.op_call_3); /*6*/
		break;

	case 4:

		// goal: <-(this, _G418, add_attr(belief, rotation(_G430)))

		m.put_struct (rotation__1,14);
		m.set_y_value (6);	/* 'R1' */
		m.put_this (1);
		m.put_y_value (0,2);	/* 'BeliefBase' */
		m.put_struct (add_attr__2,3);
		m.set_atom (belief__0);
		m.set_x_value (14);	/* 'Xtmp' */
		m.call (dlplib.op_call_3); /*6*/
		break;

	case 5:

		// goal: assign_nlv_term(this, nreg, 0, _G437)

		m.put_this (1);
		m.put_nreg (2);
		m.put_int (0,3);
		m.put_y_value (9,4);	/* 'X1' */
		m.call (dlplib.assign_nlv_term_4); /*6*/
		break;

	case 6:

		// goal: assign_nlv_term(this, nreg, 1, _G438)

		m.put_this (1);
		m.put_nreg (2);
		m.put_int (1,3);
		m.put_y_value (8,4);	/* 'Y1' */
		m.call (dlplib.assign_nlv_term_4); /*6*/
		break;

	case 7:

		// goal: assign_nlv_term(this, nreg, 2, _G439)

		m.put_this (1);
		m.put_nreg (2);
		m.put_int (2,3);
		m.put_y_value (7,4);	/* 'Z1' */
		m.call (dlplib.assign_nlv_term_4); /*6*/
		break;

	case 8:

		// goal: assign_nlv_term(this, nreg, 3, _G430)

		m.put_this (1);
		m.put_nreg (2);
		m.put_int (3,3);
		m.put_y_value (6,4);	/* 'R1' */
		m.call (dlplib.assign_nlv_term_4); /*6*/
		break;

	case 9:

		// goal: repeat

		m.call (dlplib.repeat_0); /*6*/
		break;

	case 10:

		// goal: getRotation(_G417, _G496, _G497, _G498, _G499)

		m.put_y_value (5,1);	/* 'Name' */
		m.put_v_varia (2);	/* 'Unknown' */
		m.put_v_varia (3);	/* 'Unknown' */
		m.put_v_varia (4);	/* 'Unknown' */
		m.put_y_value (1,5);	/* 'R' */
		m.call (5) /*2*/;	/* getRotation_5 */
		break;

	case 11:

		// goal: getSFVec3f(_G417, translation, _G506, _G507, _G508)

		m.put_y_value (5,1);	/* 'Name' */
		m.put_atom (translation__0,2);
		m.put_y_value (4,3);	/* 'X' */
		m.put_y_value (3,4);	/* 'Y' */
		m.put_y_value (2,5);	/* 'Z' */
		m.call (6) /*2*/;	/* getSFVec3f_5 */
		break;

	case 12:

		// goal: position_changed([_G506, _G507, _G508], _G418)

		m.put_list (18);
		m.set_y_value (2);	/* 'Z' */
		m.set_nil ();
		m.put_list (19);
		m.set_y_value (3);	/* 'Y' */
		m.set_x_value (18);	/* 'Xtmp' */
		m.put_list (1);
		m.set_y_value (4);	/* 'X' */
		m.set_x_value (19);	/* 'Xtmp' */
		m.put_y_value (0,2);	/* 'BeliefBase' */
		m.call (2) /*2*/;	/* position_changed_2 */
		break;

	case 13:

		// goal: rotation_changed(_G499, _G418)

		m.put_y_value (1,1);	/* 'R' */
		m.put_y_value (0,2);	/* 'BeliefBase' */
		m.call (3) /*2*/;	/* rotation_changed_2 */
		break;

	case 14:

		// goal: sleep(100)

		m.put_int (100,1);
		m.call (dlplib.sleep_1); /*6*/
		break;

	case 15:

		// goal: fail

		m.deallocate ();
		m.exec (dlplib.fail_0);
		break;

	case 16:
		m.end_rule ();
		break;

	} // switch
	return m.success;
} // perception:localisation/2 exec()

// perception:localisation/2 decls.
 public SymbolDescriptor translation__0;
 public SymbolDescriptor this__0;
 public SymbolDescriptor add_attr__2;
 public SymbolDescriptor belief__0;
 public SymbolDescriptor position__3;
 public SymbolDescriptor rotation__1;
 public SymbolDescriptor op__dot__2;
 public SymbolDescriptor sl_sr__0;
// end of perception:localisation/2 decls.

public boolean init (DLP m) {
 translation__0 = m.define_symbol ("translation".intern(), 0);
 this__0 = m.define_symbol ("this".intern(), 0);
 add_attr__2 = m.define_symbol ("add_attr".intern(), 2);
 belief__0 = m.define_symbol ("belief".intern(), 0);
 position__3 = m.define_symbol ("position".intern(), 3);
 rotation__1 = m.define_symbol ("rotation".intern(), 1);
 op__dot__2 = m.define_symbol (".".intern(), 2);
 sl_sr__0 = m.define_symbol ("[]".intern(), 0);
 return true;
} // perception:localisation/2 init()

} // perception:localisation/2

final class perception_position_changed_2 extends Code {

public boolean exec (DLP m) {

	switch (m.PSreg) {

		// head: position_changed([x, y, z], _G418)

	case 0:
		m.try_me_else (2);
		//m.success =
		m.get_list (1);
		m.uni_z_value (0);	/* x */
		m.uni_x_varia (10);	/* Xtmp */
		m.get_v_varia (2);	/* Unknown */
		m.get_list (10);
		m.uni_z_value (1);	/* y */
		m.uni_x_varia (12);	/* Xtmp */
		m.get_list (12);
		m.uni_z_value (2);	/* z */
		m.uni_nil ();
		m.end_head ();
		break;

	case 1:
		m.end_fact ();
		break;

		// head: position_changed([_G2017, _G2020, _G2023], _G2012)

	case 2:
		m.trust_or_fail ();
		m.allocate (5);
		//m.success =
		m.get_list (1);
		m.uni_y_value (2);	/* X */
		m.uni_x_varia (10);	/* Xtmp */
		m.get_y_value (3,2);	/* BeliefBase */
		m.get_list (10);
		m.uni_y_value (1);	/* Y */
		m.uni_x_varia (11);	/* Xtmp */
		m.get_list (11);
		m.uni_y_value (0);	/* Z */
		m.uni_nil ();
		m.cut_level (4);
		m.end_head ();
		break;

	case 3:

		// goal: changed([_G2017, _G2020, _G2023], [x, y, z])

		m.put_list (12);
		m.set_y_value (0);	/* 'Z' */
		m.set_nil ();
		m.put_list (13);
		m.set_z_value (2);	/* z */
		m.set_nil ();
		m.put_list (14);
		m.set_y_value (1);	/* 'Y' */
		m.set_x_value (12);	/* 'Xtmp' */
		m.put_list (15);
		m.set_z_value (1);	/* y */
		m.set_x_value (13);	/* 'Xtmp' */
		m.put_list (1);
		m.set_y_value (2);	/* 'X' */
		m.set_x_value (14);	/* 'Xtmp' */
		m.put_list (2);
		m.set_z_value (0);	/* x */
		m.set_x_value (15);	/* 'Xtmp' */
		m.call (4) /*2*/;	/* changed_2 */
		break;

	case 4:

		// goal: !

		m.cut_body (4);
		break;

	case 5:

		// goal: <-(this, _G2012, delete_attr(belief, position(_G2062, _G2063, _G2064)))

		m.put_struct (position__3,16);
		m.set_v_varia ();	/* 'Unknown' */
		m.set_v_varia ();	/* 'Unknown' */
		m.set_v_varia ();	/* 'Unknown' */
		m.put_this (1);
		m.put_y_value (3,2);	/* 'BeliefBase' */
		m.put_struct (delete_attr__2,3);
		m.set_atom (belief__0);
		m.set_x_value (16);	/* 'Xtmp' */
		m.call (dlplib.op_call_3); /*6*/
		break;

	case 6:

		// goal: <-(this, _G2012, add_attr(belief, position(_G2017, _G2020, _G2023)))

		m.put_struct (position__3,20);
		m.set_y_value (2);	/* 'X' */
		m.set_y_value (1);	/* 'Y' */
		m.set_y_value (0);	/* 'Z' */
		m.put_this (1);
		m.put_y_value (3,2);	/* 'BeliefBase' */
		m.put_struct (add_attr__2,3);
		m.set_atom (belief__0);
		m.set_x_value (20);	/* 'Xtmp' */
		m.call (dlplib.op_call_3); /*6*/
		break;

	case 7:

		// goal: assign_nlv_term(this, nreg, 0, _G2017)

		m.put_this (1);
		m.put_nreg (2);
		m.put_int (0,3);
		m.put_y_value (2,4);	/* 'X' */
		m.call (dlplib.assign_nlv_term_4); /*6*/
		break;

	case 8:

		// goal: assign_nlv_term(this, nreg, 1, _G2020)

		m.put_this (1);
		m.put_nreg (2);
		m.put_int (1,3);
		m.put_y_value (1,4);	/* 'Y' */
		m.call (dlplib.assign_nlv_term_4); /*6*/
		break;

	case 9:

		// goal: assign_nlv_term(this, nreg, 2, _G2023)

		m.put_this (1);
		m.put_nreg (2);
		m.put_int (2,3);
		m.put_y_value (0,4);	/* 'Z' */
		m.deallocate ();
		m.exec (dlplib.assign_nlv_term_4);
		break;

	case 10:
		m.end_rule ();
		break;

	} // switch
	return m.success;
} // perception:position_changed/2 exec()

// perception:position_changed/2 decls.
 public SymbolDescriptor op__dot__2;
 public SymbolDescriptor sl_sr__0;
 public SymbolDescriptor this__0;
 public SymbolDescriptor delete_attr__2;
 public SymbolDescriptor belief__0;
 public SymbolDescriptor position__3;
 public SymbolDescriptor add_attr__2;
// end of perception:position_changed/2 decls.

public boolean init (DLP m) {
 op__dot__2 = m.define_symbol (".".intern(), 2);
 sl_sr__0 = m.define_symbol ("[]".intern(), 0);
 this__0 = m.define_symbol ("this".intern(), 0);
 delete_attr__2 = m.define_symbol ("delete_attr".intern(), 2);
 belief__0 = m.define_symbol ("belief".intern(), 0);
 position__3 = m.define_symbol ("position".intern(), 3);
 add_attr__2 = m.define_symbol ("add_attr".intern(), 2);
 return true;
} // perception:position_changed/2 init()

} // perception:position_changed/2

final class perception_rotation_changed_2 extends Code {

public boolean exec (DLP m) {

	switch (m.PSreg) {

		// head: rotation_changed(r, _G418)

	case 0:
		m.try_me_else (2);
		//m.success =
		m.get_z_value (3,1);	/* r */
		m.get_v_varia (2);	/* Unknown */
		m.end_head ();
		break;

	case 1:
		m.end_fact ();
		break;

		// head: rotation_changed(_G1434, _G1435)

	case 2:
		m.trust_or_fail ();
		m.allocate (3);
		//m.success =
		m.get_y_value (0,1);	/* R */
		m.get_y_value (1,2);	/* BeliefBase */
		m.cut_level (2);
		m.end_head ();
		break;

	case 3:

		// goal: _G1434\==r

		m.put_y_value (0,1);	/* 'R' */
		m.put_z_value (3,2);	/* r */
		m.call (dlplib.op_at_cmp_ne_2); /*6*/
		break;

	case 4:

		// goal: !

		m.cut_body (2);
		break;

	case 5:

		// goal: <-(this, _G1435, delete_attr(belief, rotation(_G1458)))

		m.put_struct (rotation__1,10);
		m.set_v_varia ();	/* 'Unknown' */
		m.put_this (1);
		m.put_y_value (1,2);	/* 'BeliefBase' */
		m.put_struct (delete_attr__2,3);
		m.set_atom (belief__0);
		m.set_x_value (10);	/* 'Xtmp' */
		m.call (dlplib.op_call_3); /*6*/
		break;

	case 6:

		// goal: <-(this, _G1435, add_attr(belief, rotation(_G1434)))

		m.put_struct (rotation__1,12);
		m.set_y_value (0);	/* 'R' */
		m.put_this (1);
		m.put_y_value (1,2);	/* 'BeliefBase' */
		m.put_struct (add_attr__2,3);
		m.set_atom (belief__0);
		m.set_x_value (12);	/* 'Xtmp' */
		m.call (dlplib.op_call_3); /*6*/
		break;

	case 7:

		// goal: assign_nlv_term(this, nreg, 3, _G1434)

		m.put_this (1);
		m.put_nreg (2);
		m.put_int (3,3);
		m.put_y_value (0,4);	/* 'R' */
		m.deallocate ();
		m.exec (dlplib.assign_nlv_term_4);
		break;

	case 8:
		m.end_rule ();
		break;

	} // switch
	return m.success;
} // perception:rotation_changed/2 exec()

// perception:rotation_changed/2 decls.
 public SymbolDescriptor this__0;
 public SymbolDescriptor delete_attr__2;
 public SymbolDescriptor belief__0;
 public SymbolDescriptor rotation__1;
 public SymbolDescriptor add_attr__2;
// end of perception:rotation_changed/2 decls.

public boolean init (DLP m) {
 this__0 = m.define_symbol ("this".intern(), 0);
 delete_attr__2 = m.define_symbol ("delete_attr".intern(), 2);
 belief__0 = m.define_symbol ("belief".intern(), 0);
 rotation__1 = m.define_symbol ("rotation".intern(), 1);
 add_attr__2 = m.define_symbol ("add_attr".intern(), 2);
 return true;
} // perception:rotation_changed/2 init()

} // perception:rotation_changed/2

final class perception_changed_2 extends Code {

public boolean exec (DLP m) {

	switch (m.PSreg) {

		// head: changed([_G423|_G424], [_G426|_G427])

	case 0:
		m.try_me_else (3);
		//m.success =
		m.get_list (1);
		m.uni_x_varia (10);	/* H */
		m.uni_v_varia ();	/* Unknown */
		m.get_list (2);
		m.uni_x_varia (12);	/* H1 */
		m.uni_v_varia ();	/* Unknown */
		m.end_head ();
		break;

	case 1:

		// goal: _G423\==_G426

		m.put_x_value (10,1);	/* 'H' */
		m.put_x_value (12,2);	/* 'H1' */
		m.exec (dlplib.op_at_cmp_ne_2);
		break;

	case 2:
		m.end_rule ();
		break;

		// head: changed([_G2327|_G2328], [_G2330|_G2331])

	case 3:
		m.trust_or_fail ();
		//m.success =
		m.get_list (1);
		m.uni_v_varia ();	/* Unknown */
		m.uni_x_varia (11);	/* T */
		m.get_list (2);
		m.uni_v_varia ();	/* Unknown */
		m.uni_x_varia (13);	/* T1 */
		m.end_head ();
		break;

	case 4:

		// goal: changed(_G2328, _G2331)

		m.put_x_value (11,1);	/* 'T' */
		m.put_x_value (13,2);	/* 'T1' */
		m.exec (4);	/* changed_2 */
		break;

	case 5:
		m.end_rule ();
		break;

	} // switch
	return m.success;
} // perception:changed/2 exec()

// perception:changed/2 decls.
 public SymbolDescriptor op__dot__2;
// end of perception:changed/2 decls.

public boolean init (DLP m) {
 op__dot__2 = m.define_symbol (".".intern(), 2);
 return true;
} // perception:changed/2 init()

} // perception:changed/2

final class perception_init_vars_0 extends Code {

public boolean exec (DLP m) {

	switch (m.PSreg) {

		// head: init_vars

	case 0:
		m.allocate (0);
		//m.success =
		m.end_head ();
		break;

	case 1:

		// goal: assign_nlv_term(this, nreg, 0, no_init)

		m.put_this (1);
		m.put_nreg (2);
		m.put_int (0,3);
		m.put_atom (no_init__0,4);
		m.call (dlplib.assign_nlv_term_4); /*6*/
		break;

	case 2:

		// goal: assign_nlv_term(this, nreg, 1, no_init)

		m.put_this (1);
		m.put_nreg (2);
		m.put_int (1,3);
		m.put_atom (no_init__0,4);
		m.call (dlplib.assign_nlv_term_4); /*6*/
		break;

	case 3:

		// goal: assign_nlv_term(this, nreg, 2, no_init)

		m.put_this (1);
		m.put_nreg (2);
		m.put_int (2,3);
		m.put_atom (no_init__0,4);
		m.call (dlplib.assign_nlv_term_4); /*6*/
		break;

	case 4:

		// goal: assign_nlv_term(this, nreg, 3, no_init)

		m.put_this (1);
		m.put_nreg (2);
		m.put_int (3,3);
		m.put_atom (no_init__0,4);
		m.deallocate ();
		m.exec (dlplib.assign_nlv_term_4);
		break;

	case 5:
		m.end_rule ();
		break;

	} // switch
	return m.success;
} // perception:init_vars/0 exec()

// perception:init_vars/0 decls.
 public SymbolDescriptor no_init__0;
// end of perception:init_vars/0 decls.

public boolean init (DLP m) {
 no_init__0 = m.define_symbol ("no_init".intern(), 0);
 return true;
} // perception:init_vars/0 init()

} // perception:init_vars/0

class perception extends Code {
 public static ObjectDescriptor object;
 public static ObjectDescriptor _bcilib;
 public static MethodDescriptor perception_2;
 public static MethodDescriptor localisation_2;
 public static MethodDescriptor position_changed_2;
 public static MethodDescriptor rotation_changed_2;
 public static MethodDescriptor changed_2;
 public static MethodDescriptor getRotation_5;
 public static MethodDescriptor getSFVec3f_5;

public boolean init (DLP m) {
 object = m.define_object ("perception".intern(), 1, 7, 4);
 _bcilib = m.header_object (object, "bcilib".intern(), 0);
 perception_2 = m.define_method (object, 0, "perception".intern(), 2);
 localisation_2 = m.define_method (object, 1, "localisation".intern(), 2);
 position_changed_2 = m.define_method (object, 2, "position_changed".intern(), 2);
 rotation_changed_2 = m.define_method (object, 3, "rotation_changed".intern(), 2);
 changed_2 = m.define_method (object, 4, "changed".intern(), 2);
 getRotation_5 = m.extern_method (object, 5, "getRotation".intern(), 5);
 getSFVec3f_5 = m.extern_method (object, 6, "getSFVec3f".intern(), 5);
 m.define_nonlog (object, "x".intern(), 0);
 m.define_nonlog (object, "y".intern(), 1);
 m.define_nonlog (object, "z".intern(), 2);
 m.define_nonlog (object, "r".intern(), 3);
 return true;
} // perception init()
} // class perception


// end of unit perception code.

// end of perception.pl code file.