From tk at edam.speech.cs.cmu.edu  Sat Jun  9 23:20:32 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sat, 9 Jun 2007 23:20:32 -0400
Subject: [TeamTalk 95]: [632] TeamTalk: Added search and explore to grammar
Message-ID: <200706100320.l5A3KWrv029394@edam.speech.cs.cmu.edu>

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Modified: TeamTalk/Agents/boeingLib/coralshared/win32dep.h
===================================================================
--- TeamTalk/Agents/boeingLib/coralshared/win32dep.h	2007-05-29 21:31:15 UTC (rev 631)
+++ TeamTalk/Agents/boeingLib/coralshared/win32dep.h	2007-06-10 03:20:30 UTC (rev 632)
@@ -1,17 +1,17 @@
-#ifndef __WIN32DEP_H__
-#define __WIN32DEP_H__
-
-#ifdef WIN32
-
-// win32 dependencies
-
-#include <winsock2.h>
-
-#define strncasecmp(s1, s2, n) _strnicmp((s1), (s2), (n))
-#define sleep(x) Sleep(1000*(x))
-
-int gettimeofday (struct timeval *tv, void* tz);
+#ifndef __WIN32DEP_H__
+#define __WIN32DEP_H__
 
+#ifdef WIN32
+
+// win32 dependencies
+
+#include <winsock2.h>
+
+#define strncasecmp(s1, s2, n) _strnicmp((s1), (s2), (n))
+#define sleep(x) Sleep(1000*(x))
+
+int gettimeofday (struct timeval *tv, void* tz);
+
 template<class C> C round(C x) {
   C major = floor(x);
   C minor = x-major;
@@ -19,10 +19,10 @@
     if(major >=0) return major+1;
     else return major-1;
   else return major;
-}
-
-#define _USE_MATH_DEFINES
-
-#endif
-#endif
-
+}
+
+#define _USE_MATH_DEFINES
+
+#endif
+#endif
+

Deleted: TeamTalk/Resources/DecoderConfig/Dictionary/classwords.dict
===================================================================
--- TeamTalk/Resources/DecoderConfig/Dictionary/classwords.dict	2007-05-29 21:31:15 UTC (rev 631)
+++ TeamTalk/Resources/DecoderConfig/Dictionary/classwords.dict	2007-06-10 03:20:30 UTC (rev 632)
@@ -1,146 +0,0 @@
-ALEX_RUDNICKY	AE L AX K S R AX D N IH K IY
-ANTOINE_RAUX	AA N T W AA N  R AO K S
-APRIL	EY P R AX L
-AUGUST	AA G AX S T
-AUGUST(2)	AO G AX S T
-A_M	EY EH M
-CECILY_HEINER	S EH S IX L IY HH AY N AXR
-CHRIS_COLOHAN	K R IH S  K OW L AA AX N
-DAN_BOHUS	D AE N  B AA AX S
-DECEMBER	D IX S EH M B AXR
-EIGHT	EY T
-EIGHTEENTH	EY T IY N TH
-EIGHTH	EY T TH
-EIGHTH(2)	EY TH
-EIGHTY_TWO_TWENTY	EY DX IY T UW T W EH N IY
-EIGHT_TWO_TWO_ZERO	EY T T UW T UW Z IH R OW
-ELEVEN	IX L EH V AX N
-ELEVEN(2)	IY L EH V AX N
-ELEVENTH	IX L EH V AX N TH
-ELEVENTH(2)	IY L EH V AX N TH
-FEBRUARY	F EH B AX W EH R IY
-FEBRUARY(2)	F EH B R UW W EH R IY
-FEBRUARY(3)	F EH B UW W EH R IY
-FEBRUARY(4)	F EH B Y AX W EH R IY
-FEBRUARY(5)	F EH B Y UW W EH R IY
-FIFTEENTH	F IX F T IY N TH
-FIFTEEN_OH_FIVE	F IH F T IY N OW F AY V
-FIFTEEN_OH_SEVEN	F IH F T IY N OW S EH V AX N
-FIFTEEN_ZERO_FIVE	F IH F T IY N Z IH R OW F AY V
-FIFTEEN_ZERO_SEVEN	F IH F T IY N Z IH R OW S EH V AX N
-FIFTH	F IH F TH
-FIFTH(2)	F IH TH
-FIRST	F ER S T
-FIVE	F AY V
-FORTY_FIVE_THIRTEEN	F AO R DX IY F AY V TH ER T IY N
-FORTY_SIX_THIRTY_TWO	F AO R DX IY S IH K S TH ER DX IY T UW
-FORTY_SIX_TWENTY_FIVE	F AO R DX IY S IH K S T W EH N IY F AY V
-FORTY_SIX_TWENTY_THREE	F AO R DX IY S IH K S T W EH N IY TH R IY
-FOUR	F AO R
-FOURTEENTH	F AO R T IY N TH
-FOURTH	F AO R TH
-FOUR_FIVE_ONE_THREE	F AO R F AY V HH W AH N TH R IY
-FOUR_SIX_THREE_TWO	F AO R S IH K S TH R IY T UW
-FOUR_SIX_TWO_FIVE	F AO R S IH K S T UW F AY V
-FOUR_SIX_TWO_THREE	F AO R S IH K S T UW TH R IY
-FRIDAY	F R AY D EY
-FRIDAY(2)	F R AY DX IY
-GUEST	G EH S T
-JANUARY	JH AE N Y UW EH R IY
-JULY	JH AX L AY
-JULY(2)	JH UW L AY
-JUNE	JH UW N
-JUNE_SISON	JH UW N S IH S AX N
-MARCH	M AA R CH
-MAY	M EY
-MONDAY	M AH N D EY
-MONDAY(2)	M AH N D IY
-NEWELL_SIMON	N UW AX L S AY M AX N
-NEWELL_SIMON_HALL	N UW AX L S AY M AX N HH AO L
-NINE	N AY N
-NINETEENTH	N AY N T IY N TH
-NINTH	N AY N TH
-NOON	N UW N
-NOVEMBER	N OW V EH M B AXR
-OCTOBER	AA K T OW B AXR
-ONE	HH W AH N
-ONE(2)	W AH N
-ONE_FIVE_OH_FIVE	HH W AH N F AY V OW F AY V
-ONE_FIVE_OH_SEVEN	HH W AH N F AY V OW S EH V AX N
-ONE_FIVE_ZERO_FIVE	HH W AH N F AY V Z IH R OW F AY V
-ONE_FIVE_ZERO_SEVEN	HH W AH N F AY V Z IH R OW S EH V AX N
-P_M	P IY EH M
-RIDY_LIE	R AY D IY L AY
-SATURDAY	S AE DX AXR DX IY
-SATURDAY(2)	S AE T IH D EY
-SECOND	S EH K AX N
-SECOND(2)	S EH K AX N D
-SEPTEMBER	S EH P T EH M B AXR
-SEVEN	S EH V AX N
-SEVENTEENTH	S EH V AX N T IY N TH
-SEVENTH	S EH V AX N TH
-SEVENTY_TWO_TWENTY	S EH V AX N IY T UW T W EH N IY
-SEVEN_TWO_TWO_ZERO	S EH V AX N T UW T UW Z IH R OW
-SIX	S IH K S
-SIXTEENTH	S IH K S T IY N TH
-SIXTEENTH(2)	S IX K S T IY N TH
-SIXTH	S IH K S TH
-SUNDAY	S AH N D EY
-SUNDAY(2)	S AH N D IY
-TEN	T EH N
-TENTH	T EH N TH
-THIRD	TH ER D
-THIRTEENTH	TH ER T IY N TH
-THIRTIETH	TH ER DX IY AX TH
-THIRTIETH(2)	TH ER DX IY IX TH
-THIRTY_FIRST	TH ER DX IY F ER S T
-THIRTY_FIVE_OH_NINE	TH ER DX IY F AY V OW N AY N
-THIRTY_FIVE_OH_ONE	TH ER DX IY F AY V OW HH W AH N
-THIRTY_FIVE_ZERO_ONE	TH ER DX IY F AY V Z IH R OW HH W AH N
-THIRTY_THREE_OH_FIVE	TH ER DX IY TH R IY OW F AY V
-THIRTY_THREE_ZERO_FIVE	TH ER DX IY TH R IY Z IH R OW F AY V
-THOMAS_HARRIS	T AA M AX S HH EH R IX S
-THREE	TH R IY
-THREE_FIVE_OH_NINE	TH R IY F AY V OW N AY N
-THREE_FIVE_OH_ONE	TH R IY F AY V OW HH W AH N
-THREE_FIVE_ZERO_NINE	TH R IY F AY V Z IH R OW N AY N
-THREE_FIVE_ZERO_ONE	TH R IY F AY V Z IH R OW HH W AH N
-THREE_OH_OH_ONE	TH R IY OW OW HH W AH N
-THREE_THOUSAND_ONE	TH R IY TH AW Z AX N HH W AH N
-THREE_THREE_OH_FIVE	TH R IY TH R IY OW F AY V
-THREE_THREE_ZERO_FIVE	TH R IY TH R IY Z IH R OW F AY V
-THREE_ZERO_ZERO_ONE	TH R IY Z IH R OW Z IH R OW HH W AH N
-THURSDAY	TH ER Z D EY
-THURSDAY(2)	TH ER Z D IY
-TODAY	T AX D EY
-TODAY(2)	T UW D EY
-TOMORROW	T AX M AA R OW
-TOMORROW(2)	T UW M AA R OW
-TUESDAY	T UW Z D EY
-TUESDAY(2)	T UW Z D IY
-TUESDAY(3)	T Y UW Z D EY
-TWELFTH	T W EH L F TH
-TWELVE	T W EH L V
-TWENTIETH	T W EH N IY AX TH
-TWENTIETH(2)	T W EH N IY IX TH
-TWENTIETH(3)	T W EH N T IY AX TH
-TWENTIETH(4)	T W EH N T IY IX TH
-TWENTY_EIGHTH	T W EH N IY EY T TH
-TWENTY_FIFTH	T W EH N IY F IH F TH
-TWENTY_FIRST	T W EH N IY F ER S T
-TWENTY_FIVE_OH_SEVEN	T W EH N IY F AY V OW S EH V AX N
-TWENTY_FIVE_ZERO_SEVEN	T W EH N IY F AY V Z IH R OW S EH V AX N
-TWENTY_FOURTH	T W EH N IY F AO R TH
-TWENTY_NINTH	T W EH N IY N AY N TH
-TWENTY_SECOND	T W EH N IY S EH K AX N
-TWENTY_SEVENTH	T W EH N IY S EH V AX N TH
-TWENTY_SIXTH	T W EH N IY S IH K S TH
-TWENTY_THIRD	T W EH N IY TH ER D
-TWO	T UW
-TWO_FIVE_OH_SEVEN	T UW F AY V OW S EH V AX N
-TWO_FIVE_ZERO_SEVEN	T UW F AY V Z IH R OW S EH V AX N
-WEAN	W IY N
-WEAN_HALL	W IY N HH AO L
-WEDNESDAY	W EH N Z D EY
-WEDNESDAY(2)	W EH N Z D IY
-YITAO_SUN	Y IH T EY OW S AH N

Added: TeamTalk/Resources/DecoderConfig/Dictionary/hand.dict
===================================================================
--- TeamTalk/Resources/DecoderConfig/Dictionary/hand.dict	                        (rev 0)
+++ TeamTalk/Resources/DecoderConfig/Dictionary/hand.dict	2007-06-10 03:20:30 UTC (rev 632)
@@ -0,0 +1 @@
+ALPHIE	AE L F IY

Deleted: TeamTalk/Resources/DecoderConfig/Dictionary/noise.dict.reduced_phoneset
===================================================================
--- TeamTalk/Resources/DecoderConfig/Dictionary/noise.dict.reduced_phoneset	2007-05-29 21:31:15 UTC (rev 631)
+++ TeamTalk/Resources/DecoderConfig/Dictionary/noise.dict.reduced_phoneset	2007-06-10 03:20:30 UTC (rev 632)
@@ -1,23 +0,0 @@
-++AE++	AE
-++AH++	AA
-++BACKGROUND++	+BACKGROUND+
-++BREATH++	+BREATH+
-++CLICKS++	+CLICKS+
-++COUGH++	+COUGH+
-++EH++	EH
-++ER++	ER
-++FEED++	+FEED+
-++LAUGH++	+LAUGH+
-++MM++	M
-++MUMBLE++	+BACKGROUND+
-++NOISE++	+NOISE+
-++NOISE(2)++	+NOISE(2)+
-++CU_NOISE++	+NOISE(3)+
-++MIT_NOISE++	+NOISE(4)+
-++OH++	OW
-++SMACK++	+SMACK+
-++UH++	+UH+
-++UHUH++	+UHUH+
-++UH_NOISE++	+UH+
-++UM++	+UM+
-++UM_NOISE++	+UM+

Modified: TeamTalk/Resources/Grammar/TeamTalkTask-template.gra
===================================================================
--- TeamTalk/Resources/Grammar/TeamTalkTask-template.gra	2007-05-29 21:31:15 UTC (rev 631)
+++ TeamTalk/Resources/Grammar/TeamTalkTask-template.gra	2007-06-10 03:20:30 UTC (rev 632)
@@ -17,6 +17,14 @@
 	([RobotName])
 ;
 
+[HumanExploreCommand]
+	(explore)
+;
+
+[HumanSearchCommand]
+	(search)
+;
+
 [HumanFollowCommand]
 	(*[RobotName] FOLLOW [OBJ-Robot])
 
@@ -175,6 +183,7 @@
 	(move)
 	(go)
 	(drive)
+	(return)
 ;
 
 [MoveToGoal]
@@ -350,7 +359,10 @@
 ###################################################################
 
 [Cancel]
-	(cancel *COMMAND)
+	(CANCEL *COMMAND)
+CANCEL
+	(cancel)
+	(quit)
 COMMAND
 	(*that command)
 	(that)

Modified: TeamTalk/Resources/Grammar/TeamTalkTask.forms
===================================================================
--- TeamTalk/Resources/Grammar/TeamTalkTask.forms	2007-05-29 21:31:15 UTC (rev 631)
+++ TeamTalk/Resources/Grammar/TeamTalkTask.forms	2007-06-10 03:20:30 UTC (rev 632)
@@ -1,11 +1,11 @@
 ###################################################################
 #
-# ZAP Grammar
+# TeamTalk Grammar
 # 
 # Written by: June Sison
 #
 # This is the forms file corresponding to the phoenix grammar for 
-# the Zap system
+# the TeamTalk system
 #
 #
 # HISTORY -------------------------------------------------------
@@ -30,6 +30,8 @@
 	[HumanFollowCommand]
 	[HumanPauseCommand]
 	[HumanContinueCommand]
+	[HumanExploreCommand]
+	[HumanSearchCommand]
 ;
 
 FUNCTION: Features

From tk at edam.speech.cs.cmu.edu  Mon Jun 11 12:47:47 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 11 Jun 2007 12:47:47 -0400
Subject: [TeamTalk 96]: [633] TeamTalk: 1) don' t consider missing target to
 be an error for testLastConfig in utils
Message-ID: <200706111647.l5BGllpR000980@edam.speech.cs.cmu.edu>

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Modified: TeamTalk/Agents/PrimitiveComm/utils.cpp
===================================================================
--- TeamTalk/Agents/PrimitiveComm/utils.cpp	2007-06-10 03:20:30 UTC (rev 632)
+++ TeamTalk/Agents/PrimitiveComm/utils.cpp	2007-06-11 16:47:47 UTC (rev 633)
@@ -247,9 +247,8 @@
 #else
   if(stat(target.c_str(), &target_stat)) {
 #endif
-      error << "problem stating target: " << target << endl;
-      return false;
-    }
-  return target_stat.st_mtime > source_stat.st_mtime;
+    return false;
   }
+  return target_stat.st_mtime > source_stat.st_mtime;
+}
 

Modified: TeamTalk/Agents/TeamTalkBackend/robot-galaxy_adapter.cpp
===================================================================
--- TeamTalk/Agents/TeamTalkBackend/robot-galaxy_adapter.cpp	2007-06-10 03:20:30 UTC (rev 632)
+++ TeamTalk/Agents/TeamTalkBackend/robot-galaxy_adapter.cpp	2007-06-11 16:47:47 UTC (rev 633)
@@ -58,22 +58,13 @@
 void GalaxyRobots::addRobotNamesToGrammar(const vector<string>& names) 
 {
   debug << "adding robot names to grammar:";
-	map<string, string> subs;
-  {
-    ostringstream gname;
-    for(vector<string>::const_iterator i = names.begin(); i != names.end(); i++) {
-		  gname << "	(" << tolower(*i) << ')' << endl;
-	  }
-	  subs["%%RobotNames%%"] = gname.str();
-    debug << ' ' << gname.str();
-  }
-  debug << endl;
-  Agent::writeSpecializedConfig("..\\..\\Resources\\Grammar\\TeamTalkTask", "gra", 
-    subs);
+ 	ofstream namefile("..\\..\\Resources\\Grammar\\TeamTalkRobots");
+  for(vector<string>::const_iterator i = names.begin(); i != names.end(); i++) {
+    namefile << tolower(*i) << endl;
+	}
 
 	PROCESS_INFORMATION lm_build_proc = 
-    spawn(true, "Language Build", "..\\..\\Tools\\MakeLM", "perl", 
-    "makelm.pl TeamTalk ..\\..\\Resources");
+    spawn(true, "Language Build", "..\\..\\Tools\\MakeLM", "perl", "makelm.pl");
 }
 
 void GalaxyRobots::traderlistener(void *p) 
@@ -253,7 +244,7 @@
     r_client = new TeamTalk::RobotsClient("tester");
     vector<string> names = processPeerfile("peerfile.txt");
     if(!testLastConfig("peerfile.txt", 
-      "..\\..\\Resources\\DecoderConfig\\LanguageModel\\TeamTalkLM.arpa")) {
+      "..\\..\\Resources\\Grammar\\TeamTalkRobots")) {
       addRobotNamesToGrammar(names);
     }
     if(!m_client->isConnected()) {

Deleted: TeamTalk/Resources/Grammar/Scenarios.txt
===================================================================
--- TeamTalk/Resources/Grammar/Scenarios.txt	2007-06-10 03:20:30 UTC (rev 632)
+++ TeamTalk/Resources/Grammar/Scenarios.txt	2007-06-11 16:47:47 UTC (rev 633)
@@ -1,132 +0,0 @@
-What is the basic functionality that should be provided ?
-
-1. Finding a free room according to criteria, and
-   making a reservation
-
-2. Checking the schedule for a room (i.e. who's in there)
-
-
-
-
-Now, let's say we're doing just 1. The main ingredients would 
-be. 
-
--Login (user needs to provide name, credentials)
--Identifying a room. Constraints include:
-	- which room	
-		- location (Wean, NSH) / number
-	- time specification
-		- day, period
-		- recurrent/not		
-			- recurrent characteristics:
-			  (every week, every other week, etc)
-	- room size (number of persons)
-	- room accessories:
-		- projector
-		- whiteboard
-		- network connectivity
-		- etc...
--Making the reservation. 
--Bye
-
-
-Here are a couple of scenarios ________________________________________
-
-
-S: Hi, welcome to RoomLine. Tell me your name
-U: Hi, I'm Renee... I need a conference room in Newell Simon
-   for tomorrow morning at 10 am
-S: Good morning Renee. I have NSH 4513 free until 12. Is the good.
-U: Does it have a projector 
-S: Yes. It also has audio, network connectivity and a dry-erase board
-U: Okay, can I make a reservation for that one. 
-S: Sure. I have reserved NSH 4513 for you for tomorrow, April 16th, 
-   from 10 till 12 am. Is that okay ?
-U: Yes. 
-S: Is there anything else I could do for you today ?
-U: No, thanks, bye
-
-
-
-S: Hi, welcome to RoomLine. Whom am I speaking to ?
-U: Help
-S: At this point I am trying to log you into the system. If you are
-   a registered user, please tell me your name. Otherwise, you can 
-   say 'guest'. Whom am I speaking to ?
-U: Guest
-S: Welcome, guest user. I am a spoken dialog system that can make
-   conference room reservations for you in NewellSimon and Wean Hall. 
-   <more instructions>
-S: So, how can I help you ?
-U: I need a room for Thrusday around noon. 
-S: Okay, I have NSH4513 and WeH4623 available from 11 till late in 
-   the evening. Do you want any of these ?
-U: How big are they ?
-S: The newell simon one can hold 12 persons. The wean hall one is 
-   bigger, can hold about 25. They both have projectors and 
-   computers, but NSH doesn't have a network connection
-U: Okay, I'll take the newell simon one.
-S: And you need it from noon until when ?
-U: Until 1:30pm. 
-S: Okay, noon to 1:30. Is it only for this Thrusday, or do you need it 
-   every week ?
-U: Just this thursday. 
-S: Okay, so I have reserved NSH 4513 for you for Thursday March 26th, 
-   from 12pm until 1:30pm. Is that correct ?
-U: Yes. 
-S: Is there anything else I could do for you today ?
-U: No 
-S: Thank you for using roomline. Bye bye. 
-U: Bye.
-
-S: Hi, welcome to Roomline. Whom am I speaking to ?
-U: Renee
-S: Hi Renee, how can I help you today
-U: Well, I need a room for Tuesday April 22nd. 
-S: Around what time and for how long ?
-U: I need from 10 to 12. 
-S: Okay, the only room I have free at that time on Tuesday April 22nd
-   is WeH4625. Is that fine ? 
-U: Yes, that's great. 
-S: Okay, I made you a reservation for WeH4625 for Tuesday April 22nd
-   from 10 to 12. Is there anything else I can help you today
-U: No, thanks, bye
-S: You're welcome, bye, bye.
- 
-S: Hi, welcome to Roomline. Whom am I speaking to ?
-U: Renee
-S: Hi Renee, how can I help you today
-U: Well, I need a room for Tuesday April 22nd. 
-S: Around what time and for how long ?
-U: I need from 10 to 12. 
-S: From 9 to 12. Okay, I have 3 rooms ...
-U: No, no, I said from 10 to 12. 
-S: Hmm, let me get this straight. So do you want the room starting 
-   at 10 ?
-U: Yes, from 10 to 12. 
-S: Okay, the only room I have free at that time on Tuesday April 22nd
-   is WeH4625. Is that fine ? 
-U: Yes. 
-S: Okay, I made you a reservation for WeH4625 for Tuesday April 22nd
-   from 10 to 12. Is there anything else I can help you today ?
-U: No, thanks, bye
-S: You're welcome, bye, bye.
-
-_________________________________________________________________________
-
-What are the ingredients:
-1. GRAMMAR
-
-2. LANGUAGE MODEL
-
-3. ACOUSTIC MODELS
-
-4. BACKEND
-4.1. WEB SCRAPER FOR CORPORATETIME + QUERY MANAGER
-4.2. DATETIME
-
-5. DIALOG MANAGEMENT
-
-6. NLG
-
-7. SYNTHESIS
\ No newline at end of file

Deleted: TeamTalk/Resources/Grammar/TeamTalkTask-template.gra
===================================================================
--- TeamTalk/Resources/Grammar/TeamTalkTask-template.gra	2007-06-10 03:20:30 UTC (rev 632)
+++ TeamTalk/Resources/Grammar/TeamTalkTask-template.gra	2007-06-11 16:47:47 UTC (rev 633)
@@ -1,369 +0,0 @@
-###################################################################
-#
-# Z A P   T A S K   G R A M M A R
-#
-# HISTORY: -------------------------------------------------------
-#
-# [2003-03-08] (sison):    started working on this
-#
-###################################################################
-
-[RobotName]
-	(everyone)
-%%RobotNames%%
-;
-
-[OBJ-Robot]
-	([RobotName])
-;
-
-[HumanExploreCommand]
-	(explore)
-;
-
-[HumanSearchCommand]
-	(search)
-;
-
-[HumanFollowCommand]
-	(*[RobotName] FOLLOW [OBJ-Robot])
-
-FOLLOW
-	(join)
-	(follow)
-	(find)
-;
-
-[HumanPauseCommand]
-	(*[RobotName] pause)
-;
-
-[HumanContinueCommand]
-	(*[RobotName] continue)
-;
-
-[HumanReportCommand]
-	(*[RobotName] report)
-	([RobotName])
-;
-
-[HumanLocationQuery]
-	(*[RobotName] where are you)
-;
-
-[HumanHaltCommand]
-	(*[RobotName] all stop)
-;
-
-[TurnDirection]
-	(right *[AngularQualifier])
-	(left *[AngularQualifier])
-	(around)
-;
-
-[MoveDirection]
-	(right *[AngularQualifier])
-	(left *[AngularQualifier])
-	(straight)
-	(forward)
-	(forwards)
-	(back)
-	(backward)
-	(backwards)
-;
-
-[AngularQualifier]
-	([Number-180-by5] degrees)
-;
-
-[Number-180-by5]
-	(five)
-	(ten)
-	(fifteen)
-	(twenty *five)
-	(thirty *five)
-	(forty *five)
-	(fifty *five)
-	(sixty *five)
-	(seventy *five)
-	(eighty *five)
-	(ninety *five)
-	(HUNDRED)
-	(HUNDRED *and five)
-	(HUNDRED *and ten)
-	(HUNDRED *and fifteen)
-	(HUNDRED *and twenty *five)
-	(HUNDRED *and thirty *five)
-	(HUNDRED *and fourty *five)
-	(HUNDRED *and fifty *five)
-	(HUNDRED *and sixty *five)
-	(HUNDRED *and seventy *five)
-	(HUNDRED *and eighty)
-
-HUNDRED
-	(a hundred)
-	(one hundred)
-;
-
-[AbsoluteDistance]
-	([Number-20] [Units])
-;
-
-[RelativeDistance]
-	([ZapAll] *of the way)
-	([ZapHalf] *of *the way)
-	([ZapThird] of the way)
-	([ZapTwoThird] of the way)
-	([ZapOneQuarter] of the way)
-	([ZapThreeQuarter] of the way)
-;
-
-[ZapAll]
-	(all)
-;
-
-[ZapHalf]
-	(halfway)
-	(one half)
-	(a half)
-	(half)
-;
-
-[ZapThird]
-	(one third)
-	(a third)
-;
-
-[ZapTwoThird]
-	(two third)
-	(two thirds)
-;
-
-[ZapOneQuarter]
-	(one quarters)
-	(one quarter)
-	(one forth)
-	(a quarters)
-	(a quarter)
-	(a forth)
-;
-
-
-[ZapThreeQuarter]
-	(three quarter)
-	(three quarters)
-	(three forth)
-	(three forths)
-;
-
-[HumanMoveCommand]
-#	([MoveVectorCardinal])
-	([MoveVectorRelative])
-	([MoveToGoal])
-;
-
-[Join]
-	(*[RobotName] join [RobotName])
-;
-
-#[MoveVectorCardinal]
-#	(*[RobotName] MOVE *[CardinalDirection] [AbsoluteDistance])
-#	(*[RobotName] MOVE [CardinalDirection])
-#
-#MOVE
-#	(move)
-#	(go)
-#;
-
-[MoveVectorRelative]
-	(*[RobotName] MOVE *[MoveDirection] [AbsoluteDistance])
-	(*[RobotName] MOVE *[AbsoluteDistance] [MoveDirection])
-
-MOVE
-	(move)
-	(go)
-	(drive)
-	(return)
-;
-
-[MoveToGoal]
-	(*[RobotName] MOVE *[RelativeDistance] PREP *[Side] [Goal])
-	(*[RobotName] MOVE [Home])
-	
-MOVE
-	(move)
-	(go)
-	(drive)
-
-PREP
-	(toward)
-	(towards)
-	(to)
-	(down *to)
-	(down towards)
-	(up *to)
-	(up towards)
-;
-
-[Side]
-	(the=north=end=of)
-	(the=east=end=of)
-	(the=south=end=of)
-	(the=west=end=of)
-
-[Goal]
-	([Home])
-	([Xcoord] [Ycoord])
-;
-
-[Home]
-	(home)
-;
-
-[Xcoord]
-	(*negative [Number-20])
-;
-
-[Ycoord]
-	(*negative [Number-20])
-;
-
-[Units]
-	(meters)
-	(meter)
-#	(feet)
-#	(foot)
-#	(yards)
-#	(yard)
-;
-
-[HumanGoodbyeCommand]
-	(goodbye)
-	(bye bye)
-	(mission complete)
-	(that's it)
-;
-
-[HumanTurnCommand]
-	(TURN [TurnDirection])
-
-TURN
-	(turn)
-	(face)
-;
-
-[Number-20]
-	(zero)
-	(one)
-	(two)
-	(three)
-	(four)
-	(five)
-	(six)
-	(seven)
-	(eight)
-	(nine)
-	(ten)
-	(eleven)
-	(twelve)
-	(thirteen)
-	(fourteen)
-	(fifteen)
-	(sixteen)
-	(seventeen)
-	(eighteen)
-	(nineteen)
-	(twenty)
-;
-
-###################################################################
-# YES/NO grammar
-###################################################################
-
-[Yes]
-	(YES *MOD)
-	(STRONG_MOD)
-	(OKAY)
-	(WEAK_MOD)
-YES
-	(yes)
-	(yeah)
-	(yep)
-	(yup)
-MOD
-	(STRONG_MOD)
-	(WEAK_MOD)
-STRONG_MOD
-	(you betcha)
-#tk hack: interferes with "go forward"	(*let's go for it)
-	(absolutely)
-	(definitely)
-	(OKAY OKAY)
-WEAK_MOD
-	(why not)
-	(i think so)
-	(i guess so)
-OKAY
-	(sure)
-	(of course)
-	(ok)
-	(okay)
-	(correct)
-	(fine)
-	(perfect)
-	(great)
-	(wonderful)
-	(acceptable)
-	(good *enough)
-	(right)
-	(alright)
-	(cool)
-;
-
-[No]
-	(no *MOD)
-	(*no absolutely not)
-	(nope)
-	(nah)
-	(no way)
-	(*no i DONT)
-	(*no i DONT think so)
-	(never mind)
-	(nevermind)
-	(*no not really)
-	(nowhere)
-	(negative)
-DONT
-	(don't)
-	(do not)
-MOD
-	(thanks)
-	(thank you)
-	(not really)
-	(i *really don't want to)
-	(it's not)
-	(i'm not)
-NO
-	(no)
-	(not)
-GOOD
-	(right)
-	(correct)
-	(good)
-	(okay)
-;
-
-
-###################################################################
-# CANCEL grammar
-###################################################################
-
-[Cancel]
-	(CANCEL *COMMAND)
-CANCEL
-	(cancel)
-	(quit)
-COMMAND
-	(*that command)
-	(that)
-;
\ No newline at end of file

Copied: TeamTalk/Resources/Grammar/TeamTalkTask.gra (from rev 632, TeamTalk/Resources/Grammar/TeamTalkTask-template.gra)
===================================================================
--- TeamTalk/Resources/Grammar/TeamTalkTask.gra	                        (rev 0)
+++ TeamTalk/Resources/Grammar/TeamTalkTask.gra	2007-06-11 16:47:47 UTC (rev 633)
@@ -0,0 +1,368 @@
+###################################################################
+#
+# Z A P   T A S K   G R A M M A R
+#
+# HISTORY: -------------------------------------------------------
+#
+# [2003-03-08] (sison):    started working on this
+#
+###################################################################
+
+[RobotName]
+	(everyone)
+;
+
+[OBJ-Robot]
+	([RobotName])
+;
+
+[HumanExploreCommand]
+	(explore)
+;
+
+[HumanSearchCommand]
+	(search)
+;
+
+[HumanFollowCommand]
+	(*[RobotName] FOLLOW [OBJ-Robot])
+
+FOLLOW
+	(join)
+	(follow)
+	(find)
+;
+
+[HumanPauseCommand]
+	(*[RobotName] pause)
+;
+
+[HumanContinueCommand]
+	(*[RobotName] continue)
+;
+
+[HumanReportCommand]
+	(*[RobotName] report)
+	([RobotName])
+;
+
+[HumanLocationQuery]
+	(*[RobotName] where are you)
+;
+
+[HumanHaltCommand]
+	(*[RobotName] all stop)
+;
+
+[TurnDirection]
+	(right *[AngularQualifier])
+	(left *[AngularQualifier])
+	(around)
+;
+
+[MoveDirection]
+	(right *[AngularQualifier])
+	(left *[AngularQualifier])
+	(straight)
+	(forward)
+	(forwards)
+	(back)
+	(backward)
+	(backwards)
+;
+
+[AngularQualifier]
+	([Number-180-by5] degrees)
+;
+
+[Number-180-by5]
+	(five)
+	(ten)
+	(fifteen)
+	(twenty *five)
+	(thirty *five)
+	(forty *five)
+	(fifty *five)
+	(sixty *five)
+	(seventy *five)
+	(eighty *five)
+	(ninety *five)
+	(HUNDRED)
+	(HUNDRED *and five)
+	(HUNDRED *and ten)
+	(HUNDRED *and fifteen)
+	(HUNDRED *and twenty *five)
+	(HUNDRED *and thirty *five)
+	(HUNDRED *and fourty *five)
+	(HUNDRED *and fifty *five)
+	(HUNDRED *and sixty *five)
+	(HUNDRED *and seventy *five)
+	(HUNDRED *and eighty)
+
+HUNDRED
+	(a hundred)
+	(one hundred)
+;
+
+[AbsoluteDistance]
+	([Number-20] [Units])
+;
+
+[RelativeDistance]
+	([ZapAll] *of the way)
+	([ZapHalf] *of *the way)
+	([ZapThird] of the way)
+	([ZapTwoThird] of the way)
+	([ZapOneQuarter] of the way)
+	([ZapThreeQuarter] of the way)
+;
+
+[ZapAll]
+	(all)
+;
+
+[ZapHalf]
+	(halfway)
+	(one half)
+	(a half)
+	(half)
+;
+
+[ZapThird]
+	(one third)
+	(a third)
+;
+
+[ZapTwoThird]
+	(two third)
+	(two thirds)
+;
+
+[ZapOneQuarter]
+	(one quarters)
+	(one quarter)
+	(one forth)
+	(a quarters)
+	(a quarter)
+	(a forth)
+;
+
+
+[ZapThreeQuarter]
+	(three quarter)
+	(three quarters)
+	(three forth)
+	(three forths)
+;
+
+[HumanMoveCommand]
+#	([MoveVectorCardinal])
+	([MoveVectorRelative])
+	([MoveToGoal])
+;
+
+[Join]
+	(*[RobotName] join [RobotName])
+;
+
+#[MoveVectorCardinal]
+#	(*[RobotName] MOVE *[CardinalDirection] [AbsoluteDistance])
+#	(*[RobotName] MOVE [CardinalDirection])
+#
+#MOVE
+#	(move)
+#	(go)
+#;
+
+[MoveVectorRelative]
+	(*[RobotName] MOVE *[MoveDirection] [AbsoluteDistance])
+	(*[RobotName] MOVE *[AbsoluteDistance] [MoveDirection])
+
+MOVE
+	(move)
+	(go)
+	(drive)
+	(return)
+;
+
+[MoveToGoal]
+	(*[RobotName] MOVE *[RelativeDistance] PREP *[Side] [Goal])
+	(*[RobotName] MOVE [Home])
+	
+MOVE
+	(move)
+	(go)
+	(drive)
+
+PREP
+	(toward)
+	(towards)
+	(to)
+	(down *to)
+	(down towards)
+	(up *to)
+	(up towards)
+;
+
+[Side]
+	(the=north=end=of)
+	(the=east=end=of)
+	(the=south=end=of)
+	(the=west=end=of)
+
+[Goal]
+	([Home])
+	([Xcoord] [Ycoord])
+;
+
+[Home]
+	(home)
+;
+
+[Xcoord]
+	(*negative [Number-20])
+;
+
+[Ycoord]
+	(*negative [Number-20])
+;
+
+[Units]
+	(meters)
+	(meter)
+#	(feet)
+#	(foot)
+#	(yards)
+#	(yard)
+;
+
+[HumanGoodbyeCommand]
+	(goodbye)
+	(bye bye)
+	(mission complete)
+	(that's it)
+;
+
+[HumanTurnCommand]
+	(TURN [TurnDirection])
+
+TURN
+	(turn)
+	(face)
+;
+
+[Number-20]
+	(zero)
+	(one)
+	(two)
+	(three)
+	(four)
+	(five)
+	(six)
+	(seven)
+	(eight)
+	(nine)
+	(ten)
+	(eleven)
+	(twelve)
+	(thirteen)
+	(fourteen)
+	(fifteen)
+	(sixteen)
+	(seventeen)
+	(eighteen)
+	(nineteen)
+	(twenty)
+;
+
+###################################################################
+# YES/NO grammar
+###################################################################
+
+[Yes]
+	(YES *MOD)
+	(STRONG_MOD)
+	(OKAY)
+	(WEAK_MOD)
+YES
+	(yes)
+	(yeah)
+	(yep)
+	(yup)
+MOD
+	(STRONG_MOD)
+	(WEAK_MOD)
+STRONG_MOD
+	(you betcha)
+#tk hack: interferes with "go forward"	(*let's go for it)
+	(absolutely)
+	(definitely)
+	(OKAY OKAY)
+WEAK_MOD
+	(why not)
+	(i think so)
+	(i guess so)
+OKAY
+	(sure)
+	(of course)
+	(ok)
+	(okay)
+	(correct)
+	(fine)
+	(perfect)
+	(great)
+	(wonderful)
+	(acceptable)
+	(good *enough)
+	(right)
+	(alright)
+	(cool)
+;
+
+[No]
+	(no *MOD)
+	(*no absolutely not)
+	(nope)
+	(nah)
+	(no way)
+	(*no i DONT)
+	(*no i DONT think so)
+	(never mind)
+	(nevermind)
+	(*no not really)
+	(nowhere)
+	(negative)
+DONT
+	(don't)
+	(do not)
+MOD
+	(thanks)
+	(thank you)
+	(not really)
+	(i *really don't want to)
+	(it's not)
+	(i'm not)
+NO
+	(no)
+	(not)
+GOOD
+	(right)
+	(correct)
+	(good)
+	(okay)
+;
+
+
+###################################################################
+# CANCEL grammar
+###################################################################
+
+[Cancel]
+	(CANCEL *COMMAND)
+CANCEL
+	(cancel)
+	(quit)
+COMMAND
+	(*that command)
+	(that)
+;
\ No newline at end of file

Deleted: TeamTalk/Resources/Grammar/cmp.bat
===================================================================
--- TeamTalk/Resources/Grammar/cmp.bat	2007-06-10 03:20:30 UTC (rev 632)
+++ TeamTalk/Resources/Grammar/cmp.bat	2007-06-11 16:47:47 UTC (rev 633)
@@ -1,7 +0,0 @@
-REM copy Generic.gra + TeamTalkTask.gra TeamTalk.gra
-copy TeamTalkTask.gra TeamTalk.gra
-REM copy Generic.forms + TeamTalkTask.forms forms
-copy TeamTalkTask.forms forms
-perl mk_nets2.pl TeamTalk.gra
-compile -g . -f TeamTalk > log
-concept_leaf -grammar TeamTalk.net

Added: TeamTalk/Resources/Grammar/cmp.pl
===================================================================
--- TeamTalk/Resources/Grammar/cmp.pl	                        (rev 0)
+++ TeamTalk/Resources/Grammar/cmp.pl	2007-06-11 16:47:47 UTC (rev 633)
@@ -0,0 +1,33 @@
+#!/usr/local/bin/perl
+
+use strict;
+
+open(TTGRA, ">TeamTalk.gra");
+open(NETS, ">nets");
+open(TTTASKGRA, "TeamTalkTask.gra");
+while(<TTTASKGRA>) {
+    print TTGRA $_;
+    next unless (/^\[([^\]]+)\]/);
+    print NETS "$1\n";
+    next unless $1 eq 'RobotName' && -e 'TeamTalkRobots';
+    open(TTROBOTS, "TeamTalkRobots");
+    for my $robot (grep /\S/, <TTROBOTS>) {
+	chop $robot;
+	$robot =~ s/\r$//;
+	print TTGRA "\t($robot)\n";
+    }
+    close TTROBOTS;
+}
+
+open(FORMS, ">forms");
+open(TTFORMS, "TeamTalkTask.forms");
+print FORMS <TTFORMS>;
+close TTFORMS; close FORMS;
+
+open(COMPILE, "compile -g . -f TeamTalk|");
+open(LOG, ">log");
+print LOG <COMPILE>;
+close COMPILE; close LOG;
+
+system("concept_leaf -grammar TeamTalk.net");
+1;

Deleted: TeamTalk/Resources/Grammar/generate_random_samples
===================================================================
--- TeamTalk/Resources/Grammar/generate_random_samples	2007-06-10 03:20:30 UTC (rev 632)
+++ TeamTalk/Resources/Grammar/generate_random_samples	2007-06-11 16:47:47 UTC (rev 633)
@@ -1,1039 +0,0 @@
-#!/usr/local/bin/perl5
-# This line tells emacs, that this is a -*-Perl-*- program
-
-$licence = <<LICENCE;
-
-     Copyright (C) 1996 Interactive System Labs and Klaus Ries
-
-LICENCE
-
-$n_default=10;
-$break_prob_default = 0;
-$leave_out_prob_default = 0.1;
-$repeat_prob_default = 0.25;
-$maxtopnets_default = 2;
-$nexttopnetprob_default = 1;
-
-$n=$n_default;
-$break_prob = $break_prob_default;
-$leave_out_prob = $leave_out_prob_default;
-$repeat_prob = $repeat_prob_default;
-$nexttopnetprob = $nexttopnetprob_default;
-$maxtopnets = $maxtopnets_default;
-
-
-while($ARGV[0] =~ /^-.*$/) {	# PROCESS FLAGS
-    $_ = shift;
-    if($_ eq "-h") {
-	$help++;
-	next;
-    }
-    if($_ eq "-n") {
-	$n=shift;
-	next;
-    }
-    if($_ eq "-grammar") {
-      $grammar_file = shift;
-      next;
-    }
-    if($_ eq "-maxtopnets") {
-      $maxtopnets = shift;
-      next;
-    }
-    if($_ eq "-nexttopnetprob") {
-      $nexttopnetprob = shift;
-      next;
-    }
-    if($_ eq "-leave_out") {
-	$leave_out_prob=shift;
-	next;
-    }
-    if($_ eq "-repeat") {
-	$repeat_prob=shift;
-	next;
-    }
-    if($_ eq "-show_break") {
-	$show_break++;
-	next;
-    }
-    if($_ eq "-d") {
-	$dir=shift;
-	next;
-    }
-    if($_ eq "-forms") {
-	$forms=shift;
-	next;
-    }
-    if($_ eq "-warn") {
-	$warn++;
-	next;
-    }
-    if($_ eq "-capital") {
-	$capital++;
-	next;
-    }
-    if($_ eq "-dictionary") {
-	$dictionary++;
-	next;
-    }
-    if($_ eq "-makedict") {
-	$makedict++;
-	next;
-    }
-    if($_ eq "-unkdict") {
-	$unkdict++;
-	next;
-    }
-    if($_ eq "-vocabulary") {
-	$vocabulary++;
-	next;
-    }
-    if($_ eq "-class") {
-	$classes++;
-	next;
-    }
-    if($_ eq "-noclass") {
-	$noclasses++;
-	next;
-    }
-    if($_ eq "-novariants") {
-	$novariants++;
-	next;
-    }
-    if($_ eq "-iclass") {
-	$inverse_map++;
-	next;
-    }
-    if($_ eq "-modifyLM") {
-	$modify++;
-	next;
-    }
-    if($_ eq "-clausi") {
-	$clausi++;
-	next;
-    }
-    die "Unrecognized command line option $_\nUse generate_random_samples -h for help\n";
-}
-
-help() if($help);
-
-if(defined $dir) {
-    $currdir=$ENV{PWD};
-    die "Cannot change to $dir\n" unless chdir $dir;
-    warn "Changed to $dir\n";
-}
-
-
-# First load the forms of that grammer:
-
-$FORMS = "forms";
-$FORMS .= ".$forms" if defined $forms;
-
-open FORMS;
-
-while(<FORMS>) {
-
-    $random_perm++ if /%%randomperm%%/;
-
-    $prob=get_prob();
-
-    if(s/^\s*FUNCTION:\s*(\S+)//) {
-	my @F = ();
-	my @G = ();
-	$name=$1;
-	print STDERR "The name of the function is >>$name<<\n";
-	undef $nets;
-	push(@top_level,$name);
-	push(@top_level_prob,$prob);
-	push(@top_level_slots,\@F);
-	push(@top_level_probs,\@G);
-	push(@top_level_perm,$random_perm);
-	undef $random_perm;
-	$top_level{$name}++;
-    }    
-    next unless defined $name;
-    
-    if(/^\s*NETS:/) {
-	$nets++; next;
-    }
-    elsif($nets) {
-	1;
-    }
-    else {
-	next;
-    }
-
-    if(s/^(\t|\s{2,})(\S+)/$2/) {
-	$entry=$2;
-	if(defined $top_level{$name,$entry}) {
-	    warn "Multiple entry for $entry in function $name\n" ;
-	    next;
-	}
-	push(@{$top_level_slots[$#top_level_slots]},$entry);
-	push(@{$top_level_probs[$#top_level_probs]},$prob);
-	$top_level{$name,$entry}++;
-	$public{$entry}++;
-    }
-}
-close FORMS;
-
-normalize_random_entry(\@top_level_prob);
-
-foreach(@top_level_prob) {
-    normalize_random_entry($_);
-}
-
-
-die "No top-level slots" unless () ne keys %top_level;
-
-# Now load the nets themselves
-
-$NETS = "nets";
-
-open NETS;
-while(<NETS>) {
-    next unless /\S/;
-    chomp;
-    s/\s+$//;
-    
-    if(defined $nets{$_} || defined $nets{"[$_]"}) {
-	warn "Multiple entry for >>$_<< in nets\n" ;
-	next;
-    }
-    $nets{$_}++;
-
-    if(/[^A-Za-z]/) {
-	$_="[$_]";
-    }
-    $public{$_}++;
-}
-close NETS;
-
-$nets{"noises"}++ if -r "noises.gra";
-
- at noise=("SegmentNoise","BeginNoise","EndNoise","BreakNoise","RandomNoise");
-
-if($nets{"noises"}) {
-    foreach(@noise) {	
-	$public{$_}++;
-    }
-}
-
-# Next thing: Load all the grammars
-
-# MODIFIED BY ANTOINE (hacked grammar file name)
-# changed back by dbohus, so that it's a parameter in the command line
-load_grammar_file($grammar_file);
-
-foreach(keys %nets) {
-    print STDERR "Loading grammar file $_ ............\r";
-
-    $NAME=$_;
-    load_grammar_file("$NAME.gra");
-}
-
-if($nets{"noises"}) {
-    foreach(@noise) {	
-	undef $public{$_}  unless defined $rules{$_};
-    }
-}
-
-chdir $currdir if defined $currdir;
-print STDERR "Finished loading grammar file                                         \n";
-
-
-# Next thing: Generate sentences
-
-srand;
-
-check_grammar() if $warn;
-
-
-if($dictionary || $vocabulary || $makedict || $unkdict) { # Print all the defined dictionary/vocabulary entries
-    foreach $slot_ref (@top_level_slots) {
-	foreach(@{$slot_ref}) {
-	    $slots{$_}++;
-	}
-    }
-    @netname = keys %slots;
-    foreach(@noise) {
-	push(@netname,$_) if defined $public{$_};
-    }
-
-    build_reachable_dictionary();
-
-
-    open(OUT,"| sort -u | perl -pe 's/\\(0\\)\\}/\\}/;'");
-    if($vocabulary) {
-	foreach(keys %reachable_t) {
-	    print OUT "$_\n";
-	}
-	print OUT "<s>\n</s>\n";
-    }
-    elsif($dictionary) {
-	foreach(keys %reachable_t) {
-	    if($class{$_}) {
-		$_=join("\n",print_net_all($_));
-	    }
-	    print OUT "$_\n";
-	}
-    }
-    else {			# Makedict !!
-	                        # or unkdict !!
-	# Calculate all words that we need from the dictionary
-	# Assign an empty list to all of them to get
-	# the effective entries
-
-	foreach(keys %reachable_t) {
-	    next if $class{$_};
-	    if(/\266/) {	# In case we have entered that phrase to
-				# the dictionary
-		next if defined $vocab{$_};
-		my @F=();
-		$vocab{$_}=\@F;
-	    }
-	    if(/\266S$/) {
-		my $word2=$_;
-		$word2=~s/\266S$/\'S/;
-		next if defined $vocab{$word2};
-		my @F=();
-		$vocab{$word2}=\@F;
-	    }
-	    foreach(split(/\266/,$_)) {
-		next if defined $vocab{$_};
-		my @F=();
-		$vocab{$_}=\@F;
-	    }
-	}
-	foreach(keys %class) {
-	    next unless $reachable{$_};
-	    foreach(print_net_all($_)) {
-		($word,$class)=split(/:/,$_,2);
-		if($word=~/\266/) { # In case we have entered that phrase to
-				    # the dictionary
-		    next if defined $vocab{$word};
-		    my @F=();
-		    $vocab{$word}=\@F;
-		}
-		if($word=~/\266S$/) {
-		    my $word2=$word;
-		    $word2=~s/\266S$/\'S/;
-		    next if defined $vocab{$word2};
-		    my @F=();
-		    $vocab{$word2}=\@F;
-                }
-		foreach(split(/\266/,$word)) {
-		    next if defined $vocab{$_};
-		    my @F=();
-		    $vocab{$_}=\@F;
-		}
-	    }
-	}
-	
-	# Now selectively read the real dictionary from stdin/commandline
-	# Also read pronounciation variants
-
-	while(<>) {
-	    s/^\{?\s*([^\s\}\(]+)(\([^\)]+\))?\s*\}?\s+//;
-	    $word=$1;
-	    $ref = $vocab{$word};	    
-	    s/^\s*\{?\s*//;
-	    s/\s*\}?\s*$//;	    
-	    foreach $phonem (split) {
-		next unless $phonem=~/\S/ && $phonem=~/^[a-z]/i;
-		$phonem{$phonem}++;
-	    }
-	    next unless defined $ref;
-	    next if $novariants && @{$ref}>0;
-	    $pron=$_;
-	    push(@{$ref},$pron) unless grep($_ eq $pron,@{$ref})>0;
-	}
-
-
-	if($unkdict) {
-	    while(($word,$pron) = each %vocab) {
-		next if $word=~/\266/;
-		print OUT "$word\n" unless @{$pron} ;
-	    }
-	}
-	else {
-	    @phonem = sort { $phonem{$a} <=> $phonem{$b} }
-	    grep($phonem{$_}>2 && $_ ne "SIL",keys %phonem);
-	    
-	    # Pick a very seldom phonem for the words that are artifically in the dictionary
-	    # to keep the vocabulary module happy
-	    # These are specifically the class symbols
-
-	    $badphonem=$phonem[0];
-	    $badphonem.=" $badphonem";$badphonem.=" $badphonem";
-	    $badphonem.=" $badphonem";$badphonem.=" $badphonem";
-	
-	    foreach(keys %reachable_t) {
-		next if $class{$_};
-		print OUT lookup_pronounciation($_,split(/\266/))
-	    }
-	    foreach(keys %class) {
-		next unless $reachable{$_};
-		print OUT "\{$_\} \{$badphonem\}\n";
-		foreach $symbol (print_net_all($_)) {
-		    ($word,$class)=split(/:/,$symbol,2);
-		    print OUT lookup_pronounciation($symbol,split(/\266/,$word));
-		}
-	    }
-	    print OUT "{\$} {SIL}\n{(} {SIL}\n{)} {SIL}\n";
-	}
-	close OUT;
-    }
-}
-elsif($classes) {
-    foreach $class (keys %class) {
-        $_=join(" ",$class,print_net_all($class));
-	print "$_\n";
-    }
-}
-elsif($inverse_map) {
-    foreach $class (keys %class) {
-        foreach $classword (print_net_all($class)) {
-            ($word)=split(/:/,$classword);
-            $imap=$inversemap{$word};
-            if(defined $imap) {
-               push(@{$imap},$classword);
-            }
-            else {
-               my(@F)=($classword);
-               $inversemap{$word}=\@F;
-            }
-        }
-    }
-    while(($word,$imap)=each %inversemap) {
-        print join("\#",@{$imap})." $word\n";
-    }
-}
-elsif($modify) {
-
-    while(<>) {
-	if(/^\\subsmodel:/) {
-	    $skipsmodel++;
-	    last;
-	}
-	print;
-    }			       
-    if($skipsmodel) {
-	while(<>) {
-	    if(/^\\end\\/) {
-		last;
-	    }
-	}	
-	print while <>;
-    }
-
-    print "\\subsmodel:\n";
-    foreach $class (sort keys %class) {
-	print "-99.9 $class $class\n";
-	@classmembers = print_net_all($class);
-        $classpenalty = -log(scalar(@classmembers))/log(10);
-        foreach $classmember (sort @classmembers) {
-            $_="$classpenalty $classmember $class\n";
-	    print;
-	}
-    }
-    print "\\end\\\n";
-}
-else {				# Print random sentences
-    foreach($i=0;$i<$n;$i++) { # Select a top-level frame and generate a sentence for it
-	print_random_sentence(select_random_entry(\@top_level_prob,"FORM"));    
-    }
-}
-    
-
-sub print_random_sentence {
-    
-    my($select) = @_;
-    my($select_local,$parse,$parse_local);
-
-#    print "$top_level[$select]:";
-
-    if($top_level_perm[$select]) {
-	begin_noise();
-	$break=1;
-	while($break) {
-	    $break=0;
-	    print_net_random(${$top_level_slots[$select]}[$select_local]);
-	    if($break) {
-		break_noise();
-	    }
-            else {
-		segment_noise();
-	    }
-        }
-	end_noise();
-    }
-    else {
-	begin_noise();
-	$counter = 0;
-	foreach $select_local (@{$top_level_slots[$select]}) {
-	    $counter++;
-	    $break=1;
-	    while($break) {
-		$break=0;
-		print_net_random($select_local);
-		if($break) {
-		    break_noise();
-		}
-		else {
-		    segment_noise();
-		}
-	    }
-	    if((rand() > $nexttopnetprob) || ($counter >= $maxtopnets)) {
-	      last;
-	    }
-        }
-	end_noise();
-    }
-    print "\n";
-}
-
-sub begin_noise {
-    print_net_random("BeginNoise") if defined $public{"BeginNoise"};
-}    
-
-
-sub end_noise {
-    print_net_random("EndNoise") if defined $public{"EndNoise"};
-}    
-
-
-sub segment_noise {
-    print_net_random("SegmentNoise") if defined $public{"SegmentNoise"};
-}    
-
-sub break_noise {
-    print_net_random("BreakNoise") if defined $public{"BreakNoise"};
-}    
-
-sub random_noise {
-    print_net_random("RandomNoise") if defined $public{"RandomNoise"};
-}    
-
-sub random_break {
-    if(1-$break_prob<rand()) {
-	$break++;
-	print " **<** " if $show_break;
-    }
-}    
-
-
-sub select_random_entry {
-    my($array,$name) = @_;
-    my $prob=0;
-    my $random = rand();
-    my $return=0;
-    my $i=0;
-
-    foreach(@$array) {
-	$prob+=$_;
-	return $i if $random<$prob;
-	$i++;
-    }
-    die "$name not a probability distribution: ".join(" ",@{$array})."\n";
-}
-
-sub normalize_random_entry {
-    local($array) = @_;
-    my $i;
-    my $prob = 0;
-    my $zero = 0;
-
-    if(@{$array}==1) {
-	$$array[0]=1;
-	return;
-    }
-
-    for( $i=0; $i<=$#$array; $i++ ) {
-	$prob+=$$array[$i];
-	if($$array[$i] == 0) {
-	    $zero++;
-	}
-    }
-    die "Not a probability distribution $prob>1\n" if $prob>1;
-
-    if($zero>0) {
-	$prob = (1-$prob)/$zero;
-	for( $i=0; $i<=$#$array; $i++ ) {
-	    $$array[$i] = $prob if $$array[$i]==0;
-	}
-    }	
-}
-
-sub print_net_random {
-
-    my($netname) = @_;
-    my($repeat,$type,$body);
-
-    my($text) = "";
-
-    unless(defined $rules{$netname}) {
-	warn  "Rule for $netname not defined\n" if $warn;
-	return "";
-    }
-    
-    my($rule_ref) = ${$rules{$netname}}[select_random_entry($rules_prob{$netname},$netname)];
-
-    foreach(@$rule_ref) {
-	($repeat,$type,$body) = split(/,/,$_);
-	
-	while(1) {
-	    if($repeat=~s/\*//g) {
-		last if rand()<$leave_out_prob;
-		$repeat="1" unless $repeat=~/\S/;
-	    }
-	    if($type eq "T" || $class{$body}) {
-		if($clausi) {
-		    print "$body\n"; random_noise();
-		}
-		else {
-		    print "$body "; random_noise();
-		}
-	    }
-	    else {
-		print_net_random($body);
-		random_break();	    
-	    }
-	    return if $break;
-	    last if $repeat eq "1";
-	    last unless rand()<$repeat_prob;
-	}
-    }
-}    
-
-
-
-sub print_net_all {
-    local($global_netname) = @_;
-    local(%already_visited);
-
-    my(@return) = print_net_all2($global_netname);
-    my($ret_length)=scalar(@return);
-    @return=grep(/\S/, at return);
-    warn "$global_netname could expand to empty, ignored\n"
-	unless @return==$ret_length;
-    @return=grep(($_.=":$global_netname") || 1, at return);
-    return @return;
-}
-
-
-sub print_net_all2 {
-
-    my($netname) = shift @_;
-    my($repeat,$type,$body,$ruleref);
-    my(@returnarray)=();
-
-    unless(defined $rules{$netname}) {
-	warn  "Rule for $netname not defined\n" if $warn;
-	return ();
-    }
-    
-    return @_ if $already_visited{$netname}>1;
-    $already_visited{$netname}++;
-    foreach $ruleref (@{$rules{$netname}}) {
-	my(@rulereturn)=@_;
-	foreach(@{$ruleref}) {
-	    ($repeat,$type,$body) = split(/,/,$_);
-
-	    my(@localrulereturn)=();
-	    
-	    if($repeat eq "*") {
-		@localrulereturn=@rulereturn;
-		@localrulereturn=("") unless @localrulereturn>0;
-	    }
-	    warn "Rule for $netname contains repetition $repeat specification -- ignored"
-		unless $repeat eq "1" || $repeat eq "*";
-
-	    if($type eq "T") {
-		$body = "+$body+" if $body =~ s/^&//;
-		if(@rulereturn) {		    
-		    for($i=0;$i<=$#rulereturn;$i++) {
-			if($rulereturn[$i]=~/\S/) {
-			    $rulereturn[$i].="\266$body";
-			} else {
-			    $rulereturn[$i]="$body";
-			}
-		    }
-		}
-		else {		    
-		    @rulereturn=($body);
-		}
-	    }
-	    else {		    
-		@rulereturn=print_net_all2($body, at rulereturn);
-	    }
-	    push(@rulereturn, at localrulereturn);
-	}
-	push(@returnarray, at rulereturn);
-    }
-    $already_visited{$netname}--;
-    return @returnarray;
-}    
-
-
-sub build_reachable_dictionary {
-
-    my($netname);
-    my($repeat,$type,$body,$rule_ref);
-
-    my($text) = "";
-
-    while(@netname) {
-	$netname = shift @netname;
-
-	if($class{$netname}) {
-	    $reachable_t{$netname}++;
-	    $reachable{$netname}++;
-	    next;
-	}
-	
-	unless(defined $rules{$netname}) {
- 	    warn  "Rule for $netname not defined in build_reachable_dictionary\n" if $warn;
-	    return "";
-	}
-
-	foreach $rule_ref (@{$rules{$netname}}) {
-	    foreach(@{$rule_ref}) {
-		($repeat,$type,$body) = split(/,/,$_);
-		if($type eq "T") {
-		    $reachable_t{$body}++;
-		}
-		else {
-		    unless(exists $reachable{$body}) {
-			push(@netname,$body);
-			$reachable{$body}++;
-		    }
-		}
-	    }
-	}
-    }
-}		
-
-
-sub check_grammar {
-
-    while(($definition) = each %public) {
-	warn "Net rule $definition not defined\n" unless defined $rules{$definition};
-    }
-    while(($definition,$count) = each %definition) {
-	for($i=1;$i<=$count;$i++) {
-	    warn "$definition:$count not defined" unless defined $rules{"$definition:$count"};
-	}
-    }
-}
-
-
-sub get_prob {
-
-    if(s/[\#;]([\s\S]+)//) {
-	my $comment=$1;
-
-	if($comment=~/%%CLASS%%/) {
-	    $class=1;
-	} else {
-	    $class=0;
-	}
-
-	return $1 if $comment=~/%%(\S+)%%/;
-    }
-    $class=0;
-    return 0;
-}
-
-
-sub load_grammar_file {
-    local($GRAMMAR_FILE) = @_;
-    local($concept, at rules, at rules_prob);
-    local(*GRAMMAR);
-
-#    print STDERR "Reading $GRAMMAR_FILE of $NAME\n";
-
-    $concept = "";
-    @rules   = ();
-    $conceptclass=0;
-
-    open(GRAMMAR,$GRAMMAR_FILE);
-    while(<GRAMMAR>) {
-	if(/^\#include\s+(\S+)/) {
-	    flush_concept();
-	    $conceptclass=0;
-	    load_grammar_file($1,$NAME);
-	}
-	else {	    
-	    # Get rid of comments and empty lines
-
-	    $prob=get_prob();  next unless /\S/;
-	  
-	    # Classify line	    
-	    if(/^(\S+)/) {		# It's a concept
-		$new_concept=$1;
-		flush_concept();
-		$conceptclass=$class;
-		$concept=$new_concept;
-	    }
-	    else {
-		die "No concept defined" unless $concept=~/\S/;
-		die "No begin-parenthesis in $concept rules $_\n" unless s/^\s+\(\s*//;
-		die "No end-parenthesis in $concept rules $_\n"   unless s/\s*\)\s*$//;
-
-		push(@rules,$_);
-		push(@rules_prob,$prob);
-	    }
-	}
-    }
-    flush_concept();
-    close GRAMMAR;
-}
-
-
-sub select_random_array {
-    local($array_ref) =  $_[0];;
-
-    return @$array_ref[int(rand(scalar(@$array_ref)))];
-}
-
-
-sub flush_concept {
-
-    # Determine the symbol-table-entry for the concept defined
-    # If it is a top-level entry, it is globally visible.
-    # Otherwise, it is only local and may be multiple definded and
-    # overwritten
-
-    return unless $concept=~/\S/;
-
-    if($public{$concept}) {
-	$real_name=$concept;
-    }
-    else {
-	$definition{$NAME,$concept};
-	$real_name="$NAME:$concept:".($definition{"$NAME:$concept"}+1);
-    }
-
-    die "Multiple definition of $real_name\n" if defined $rules{$real_name};
-
-
-    my @new_rules = ();
-
-    foreach(@rules) {
-	my @rule = ();
-	foreach $body (split) {
-	    $repeat = "1";
-	    $repeat = $1 if $body=~s/^([\+\*]+)//;
-	    $body =~ s/^\s+//; $body =~ s/\s+$//; 
-	    if( ($body=~/^[^A-Z_\-]/) && !($body =~ /^\[.*\]$/)) {
-		$type="T";
-		$body=~s/\+/'/g; # '
-		$body=~tr/a-z/A-Z/ if $capital;
-		$body = "+$body+" if $body =~ s/^&//;
-		$dictionary{$body}++;
-	    }
-	    else {
-                $type="N";
-
-		unless($public{$body}) {
-		    $body="$NAME:$body:".($definition{"$NAME:$body"}+1);
-		}
-	    }
-	    push(@rule,"$repeat,$type,$body");
-	}
-
-	push(@new_rules,\@rule);
-    }
-
-    $rules{$real_name}=\@new_rules;
-
-    my @new_rules_prob = @rules_prob;
-    normalize_random_entry(\@new_rules_prob);
-    $rules_prob{$real_name}=\@new_rules_prob;
-
-
-    unless($public{$concept}) {
-	$definition{"$NAME:$concept"}++;
-    }
-
-    @rules = ();
-    @rules_prob = ();
-    $class{$real_name}++ if $conceptclass && !$noclasses;
-
-    $concept="";
-
-}
-
-sub lookup_pronounciation {
-
-    local($word) = shift @_;
-
-    local($error)="";
-
-    my(@pron);
-    my($pronword)=join("\266", at _);
-
-    if(defined $vocab{join("\266", at _)} && @{$vocab{join("\266", at _)}}>0) {
-	@pron = allchunk(join("\266", at _));
-    }
-    elsif(($pronword=~s/\266S$/\'S/) && (defined $vocab{$pronword}) && @{$vocab{$pronword}}>0) {
-	@pron = allchunk($pronword);
-    }
-    else {
-	@pron = allchunk(@_);
-    }
-    return $error if $error=~/\S/;	# Error case
-    my($ret) = "{$word(0)} {$pron[0]}\n";
-    for($i=1;$i<=$#pron;$i++) {
-	$ret .= "{$word(".($i+1).")} {$pron[$i]}\n";
-    }
-    return $ret;
-}
-
-sub allchunk {
-    my $prefix = shift @_;
-    my $dictref = $vocab{$prefix};
-    my @ret=();
-
-    unless((defined $dictref) && (@{$dictref}>0)) {
-    	$error .= "ERROR: Not all subwords ($prefix) known for $word\n";
-	allchunk(@_) unless @_==0;
-	
-        return ();
-    }
-
-    return @{$dictref} if @_==0;
-
-    my($suff,$pref);
-
-    foreach $suff (allchunk(@_)) {
-	foreach $pref (@{$dictref}) {
-	    push(@ret,"$pref $suff");
-	}
-    }
-    return @ret;	
-}
-	    
-		
-		
-	
-
-sub help {
-    print <<EOT;
-generate_random_samples -h -n N -break prob -show_break -d dir -forms ext -noclass -warn -capital
-                        -clausi -repeat prob -leave_out prob -vocabulary -class -iclass
-                        -dictionary -modifyLM [LanguageModel]
-
-
-Generates random sentences from a PHOENIX grammar that is in the
-current directory as if it were a stochastic context free grammmar.
-
-
--h             --  print this help
--n N           --  print N random sentences ( default $n_default )
--grammar_file file -- specifies the grammar file to be used
--maxtopnets M  --  specifies the maximum number of top nets per sentence (default $maxtopnets_default)
--nexttopnetprob p -- specifies the probability for generating another top net
-                     basically the generation process adds another top net
-                     according to this probability (default $nexttopnetprob_default )
--break prob    --  probability of a sentence break ( default $break_prob_default )
--show_break    --  visualizes the occurence of breaks for debugging
--d dir         --  change to directory dir as the PHOENIX grammar dir
--forms ext     --  use forms.ext instead of forms to generate from
--noclass       --  don\'t use classes when generating text, which is more human-readable
--warn          --  only test the grammar
--capital       --  capitalize all words
--clausi        --  use special output format
--repeat prob   --  repetition probability ( default $repeat_prob_default )
--leave_out prob--  leaving out an optional item probability ( default $leave_out_prob_default )
--vocabulary    --  print the vocabulary used in the grammar usable for the LM
--class         --  print the classes used
--iclass        --  print the inverse classes used
--dictionary    --  only print all the words in the grammar for pronounciation
-                   dictionary construction
--modifyLM      --  takes an LM from stdin or from files after the options
-                   (possibly with old classes, these will be eliminated)
-                   and adds classes according to the specification by the grammar 
--makedict      --  takes a dictionary from stdin or from files after the options
-                   and generates a pronounciation dictionary
--unkdict       --  takes a dictionary from stdin or from files after the options
-                   and generates a list of unknown words related to that dictionary
-                   The assumtion is, that all word strings are comosed into subwords
-
-Written by Klaus Ries <ries\@cs.cmu.edu> <kries\@ira.uka.de>
-Copyright (C) 1996,1997 Interactive System Labs and Klaus Ries
-
-
-Detailed description:
-
-All productions are assumed to be equally likely, unless one specifies
-probabilities after some of them ( the remain probability mass is
-distributed over the other prodcuctions ) in the form   %%0.5%% ,
-which is interpreted as a comment by PHOENIX.
-A network can have the specification %%CLASS%% in a comment like in
-
-[townname_l]  # %%CLASS%% 
-	( split )
-	( bihac )
-	(banja-luka)
-	(sarajevo) # %%0.9%% since we are always talk about it
-	(tuzla)
-	(drvar)
-
-Elements within one class are assumed to be equiprobable.
-The specification of \"+\" is ignored and recursions are broken after
-the second visit of a net.
-
-The probability for leaving out an optional event is $leave_out_prob,
-the probability for repeating an repeatable event is $repeat_prob.
-One can either change these probabilies in the code or can rewrite the
-grammar such that one can specify them with corresponding rules.
-
-The generation of noises is possible if a file "noises.gra" is placed in
-same directory with the other grammar files, not all slots have to be present.
-The file "noises.gra" should look like
-______________________________________
-
-
-# &garbage is expanded to +garbage+ by definition, since "+" at
-# the beginning of a tokebn always means repetition
-BeginNoise      # called before every utterance
-        ( )                             # %%0.6%%
-        ( &garbage )                    # %%0.25%%
-        ( &garbage &garbage )
-        ( &garbage &garbage &garbage )
-
-EndNoise      # called after every utterance
-        ( )                             # %%0.8%%
-        ( &garbage )                    # %%0.15%%
-        ( &garbage &garbage )
-        ( &garbage &garbage &garbage )
-
-SegmentNoise # called between slots in the forms-file
-        ( )                             # %%0.97%%
-        ( &garbage )                    # %%0.015%%
-        ( &garbage &garbage )           # %%0.01%%
-        ( &garbage &garbage &garbage )
-
-BreakNoise   # called after a break occured instead of SegmentNoise
-        ( )                             # %%0.3%%
-        ( &garbage )                    # %%0.6%%
-        ( &garbage &garbage )
-
-RandomNoise  # Called after every word         
-        ( )                             # %%0.99%%
-        ( &garbage )                    # %%0.008%%
-        ( &garbage &garbage )
-______________________________________
-
-A break is a reset of a slot that is entered in the forms file
-and simulates restarts resp. corrections.
-It may occur at every word and a probabilty for this event can be specified.
-Since it is usually marked by discourse markers a separate noise slot is defined for
-this event.
-
-
-EOT
-    exit(0);
-}

Deleted: TeamTalk/Resources/Grammar/grammar.words
===================================================================
--- TeamTalk/Resources/Grammar/grammar.words	2007-06-10 03:20:30 UTC (rev 632)
+++ TeamTalk/Resources/Grammar/grammar.words	2007-06-11 16:47:47 UTC (rev 633)
@@ -1,571 +0,0 @@
-A
-I
-M
-P
-I'D
-I'LL
-I'M
-O'CLOCK
-BACK
-CAN
-CATCH
-DAY
-DATE
-EACH
-HAVE
-HAD
-HAPPENING
-HANG
-LATER
-MAIN
-NAH
-LAST
-PARDON
-PAUSE
-DAILY
-SAID
-TAKE
-SAY
-SAME
-WAS
-WANT
-WANNA
-WANTED
-WAY
-DAILIES
-DAYS
-DATES
-EASTER
-HALLOWEEN
-LABOR
-PATRICK'S
-VALENTINE
-VALENTINE'S
-NATIONS
-MARTIN
-FATHERS'
-PARENT'S
-EARLIER
-JANUARY
-MARCH
-MAY
-PAST
-HALF
-SATURDAY
-SATURDAYS
-SATURDAY'S
-EARLY
-PART
-LATE
-NAME
-DAN
-HARRIS
-RAUX
-LACKING
-MARKER
-MACHINE
-JACK
-LARGE
-LARGER
-LARGEST
-HALL
-MAKE
-CARE
-CANCEL
-HAS
-MANY
-CAPACITY
-TALKING
-MATTER
-SATISFIED
-'BOUT
-ABOUT
-ABORT
-ABSOLUTELY
-ACTIVITY
-ACCEPTABLE
-ACCORDING
-ACCESS
-ACCOMODATE
-OCTOBER
-SCRATCH
-SCREEN
-SCREENS
-BELIEVE
-BEG
-BEGINNING
-BE
-BETCHA
-GET
-HELLO
-HELP
-HEAR
-DEFINITELY
-LET'S
-LET
-NEED
-ME
-MENU
-NEITHER
-REPEAT
-SERVICE
-SESSION
-SECOND
-VERY
-WE
-WELCOME
-RESUME
-RESTART
-RESET
-WERE
-SEE
-YES
-YEAH
-YEP
-PERFECT
-NEVER
-NEVERMIND
-REALLY
-NEGATIVE
-TEN
-SEVENTEEN
-SEVENTY
-ZERO'S
-SEVEN'S
-SEVENTH
-ZERO
-SEVEN
-YEAR
-WEEK
-NEXT
-NEW
-YEAR'S
-YEARS
-MEMORIAL
-VETERANS
-WEEKS
-BEFORE
-BETWEEN
-BEGIN
-BEGINS
-WE'D
-TENTH
-SEVENTEENTH
-FEBRUARY
-SEPTEMBER
-DECEMBER
-NEAR
-NEARER
-NEAREST
-WEDNESDAY
-WEDNESDAYS
-WEDNESDAY'S
-WEEKEND
-WEEKENDS
-WEEKDAY
-WEEKDAYS
-YESTERDAY
-YESTERDAY'S
-REGARDLESS
-REAL
-PERIOD
-DEVICE
-DEVICES
-NETWORKING
-NET
-NETWORK
-NETWORKED
-LEAST
-SEAT
-PEOPLE
-PERSONS
-NEWELL
-WEAN
-RESERVE
-RESERVATION
-SEMINAR
-TELL
-SET
-DELETE
-SEATING
-MEAN
-DETAILS
-AFTERNOON
-AFTER
-AFTERWARDS
-AFTERNOONS
-OF
-AGAIN
-AGO
-CHRISTMAS
-CHRIS
-CHOICES
-CHARACTERISTICS
-CHOICE
-OH'S
-OH
-SHOULD
-THERE
-THANKS
-THANK
-THIS
-THAT
-THAT'S
-THAT'LL
-THAT'D
-THE
-THINK
-WHAT
-WHAT'D
-SHORT
-WHILE
-WHERE
-WHAT'S
-THEM
-THESE
-THOSE
-WHY
-THOUSAND
-THIRTEEN
-THIRTY
-THREE'S
-THREE
-THIRD
-THANKSGIVING
-THIRTIETH
-THIRTEENTH
-SHORTLY
-THAN
-THURSDAY
-THURSDAYS
-THURSDAY'S
-WHOLE
-THOMAS
-WHITEBOARD
-WHITEBOARDS
-WHICH
-WHICHEVER
-THEY
-BIG
-BIGGER
-DID
-DIDN'T
-DIALOG
-GIVE
-HI
-DIALOGUE
-FINE
-FIFTEEN
-LIKE
-LITTLE
-NIGHT
-MIND
-EIGHTEEN
-NINETEEN
-RIGHT
-SIXTEEN
-TIPS
-FIFTY
-SIXTY
-WILL
-EIGHTY
-NINETY
-FIVE'S
-SIX'S
-EIGHT'S
-NINE'S
-SIXTH
-EIGHTH
-NINTH
-FIVE
-SIX
-EIGHT
-NINE
-TIME
-FIRST
-FIFTH
-KING
-TIL
-TIMES
-FIFTEENTH
-SIXTEENTH
-EIGHTEENTH
-NINETEENTH
-VICINITY
-MINUTE
-MINUTES
-MIDNIGHT
-MIDWEEK
-MID
-MIDDLE
-NIGHTS
-MIDDAY
-RIDY
-LIE
-SISON
-VIDEO
-WITH
-WITHOUT
-WINDOWS
-LINUX
-BIGGEST
-NICE
-SIMON
-LIST
-SIZE
-FIT
-BIT
-FIND
-DIFFERENT
-EITHER
-FIST
-OKAY
-ALREADY
-ALL
-CLOSE
-ALRIGHT
-ELEVEN
-FLAG
-ELEVENTH
-CLOSEST
-CLOSER
-ALEX
-BLACKBOARD
-BLACKBOARDS
-ELSE
-ALTERNATIVE
-PLEASE
-PLUG
-AM
-IMMEDIATELY
-PM
-SMALL
-SMALLER
-SMALLEST
-ANY
-AND
-AN
-ANYTIME
-ENOUGH
-ANYTHING
-END
-ENDS
-IN
-INDEPENDENCE
-KNOW
-ENDING
-ANY_TIME
-ANTOINE
-ONE
-ON
-ONE'S
-INTERNET
-ANOTHER
-ONES
-UNDERSTAND
-UNITED
-UNTIL
-UNIT
-UNITS
-INFORMATION
-UNOCCUPIED
-BOHUS
-COULD
-DOES
-DO
-DON'T
-GOOD
-HOW
-HOLD
-CONVERSATION
-FOR
-LOT
-MORNING
-NOW
-GO
-GOING
-DOING
-GOODBYE
-SOME
-TOLD
-TO
-SORRY
-WOULD
-GOODNIGHT
-YOU
-YOU'RE
-YOUR
-NONE
-SOUNDS
-WORKS
-NOT
-SO
-COURSE
-CORRECT
-WONDERFUL
-COOL
-NO
-NOPE
-NOWHERE
-FOURTEEN
-FORTY
-FOUR'S
-FOURTH
-FOUR
-SOMETIME
-MONTH
-SORT
-SORTED
-FOLLOWING
-COMING
-FOOL'S
-FORCES
-MOTHERS'
-COLUMBUS
-FOURTEENTH
-NOVEMBER
-SOMEWHERE
-POSSIBLE
-HOURS
-NOON
-NOONTIME
-SOONER
-COUPLE
-MONDAY
-MONDAYS
-MONDAY'S
-TODAY
-TODAY'S
-TONIGHT
-TOMORROW
-TOMORROW'S
-MORNINGS
-SOON
-HOUR
-LONG
-COLOHAN
-MONITOR
-MONITORS
-BOARD
-BOARDS
-COMPUTER
-COMPUTERS
-CONNECTIVITY
-CONNECTED
-MORE
-HOLDS
-TOO
-ROOM
-WORK
-BOOK
-SOMETHING
-ROOMS
-CONFERENCE
-YOU'VE
-FOUND
-GOT
-COME
-COMES
-DOESN'T
-SOMEWHAT
-APRIL
-APPROXIMATELY
-OPTIONS
-UP
-EQUIPPED
-'ROUND
-ARE
-BREAK
-ARRANGE
-ARRANGED
-ARMED
-FROM
-GREAT
-GROUNDHOG
-AROUND
-FRIDAY
-FRIDAYS
-FRIDAY'S
-DRY
-ERASE
-OR
-PREFER
-ORDER
-ORDERED
-PREVIOUS
-PRESIDENTS'
-PRECEEDING
-PRIOR
-PROJECTOR
-PROJECTORS
-PROJECTING
-PROJECTION
-GROUP
-FREE
-PROPERTIES
-AS
-IS
-NSH
-US
-USER
-'TIL
-AT
-IT
-IT'S
-OTHER
-STAND
-START
-ST
-STARTS
-STARTING
-AUGUST
-CUSTOMER
-DURING
-GUESS
-HUNDRED
-GUEST
-JUST
-JULY
-LUTHER
-MUCH
-MUST
-JUNE
-NUMBER
-QUICK
-QUIT
-SURE
-SUSPEND
-QUARTER
-TUESDAY
-SUNDAY
-TUESDAYS
-YUP
-SUNDAYS
-TUESDAY'S
-SUNDAY'S
-RUDNICKY
-AVAILABLE
-AVERAGE
-EVENING
-EVERY
-EVERYDAY
-EVE
-EVENINGS
-OVER
-OVERHEAD
-AWAY
-TWELVE
-TWENTY
-TWO'S
-TWO
-TWENTIETH
-TWELFTH
-EXCUSE
-EXIT
-BY
-BYE
-BYEBYE
-MY
-SYSTEM
-A_M
-P_M

Deleted: TeamTalk/Resources/Grammar/pack_gra.perl
===================================================================
--- TeamTalk/Resources/Grammar/pack_gra.perl	2007-06-10 03:20:30 UTC (rev 632)
+++ TeamTalk/Resources/Grammar/pack_gra.perl	2007-06-11 16:47:47 UTC (rev 633)
@@ -1,7 +0,0 @@
-#!/usr/local/bin/perl
-
-while(<STDIN>) {
-	chop;
-	system("cat $_");
-	system("echo ';\n\n'");
-}

Deleted: TeamTalk/Resources/Grammar/prs.bat
===================================================================
--- TeamTalk/Resources/Grammar/prs.bat	2007-06-10 03:20:30 UTC (rev 632)
+++ TeamTalk/Resources/Grammar/prs.bat	2007-06-11 16:47:47 UTC (rev 633)
@@ -1 +0,0 @@
-parse -dir . -grammar zap2.net 
\ No newline at end of file

Deleted: TeamTalk/Resources/Grammar/stripbasedic.perl
===================================================================
--- TeamTalk/Resources/Grammar/stripbasedic.perl	2007-06-10 03:20:30 UTC (rev 632)
+++ TeamTalk/Resources/Grammar/stripbasedic.perl	2007-06-11 16:47:47 UTC (rev 633)
@@ -1,14 +0,0 @@
-#!/bin/perl
-
-# (dbohus): This program strips the base.dic file generated when compiling
-# the grammar into a simple dictionary file, that can be used through the 
-# LM tool to generate the pronounciations
-
-while(<>) {
-  chomp;
-  if($_ =~ /^(.+?) (.+?)$/) {
-    if(!($1 eq "<S>") && !($1 eq "</S>")) {
-      printf $1."\n";
-    }
-  }
-}

Deleted: TeamTalk/Resources/Grammar/unpack_gra.perl
===================================================================
--- TeamTalk/Resources/Grammar/unpack_gra.perl	2007-06-10 03:20:30 UTC (rev 632)
+++ TeamTalk/Resources/Grammar/unpack_gra.perl	2007-06-11 16:47:47 UTC (rev 633)
@@ -1,16 +0,0 @@
-#!/usr/local/bin/perl
-
-open(IN,$ARGV[0]) || die "Can't open $ARGV[0]: $!";
-while(<IN>) {
-	if ( /^;/ ) {
-	    close(OUT);
-	    next;
-	}
-	if ( /^\[/ ) {
-	    /\[(.*)\]/;
-	    $name= $1;
-	    open(OUT,">$name.gra") || die "Can't open $name: $!";
-	}
-
-	print OUT "$_";
-}

Deleted: TeamTalk/Resources/Grammar/unparsables.txt
===================================================================
--- TeamTalk/Resources/Grammar/unparsables.txt	2007-06-10 03:20:30 UTC (rev 632)
+++ TeamTalk/Resources/Grammar/unparsables.txt	2007-06-11 16:47:47 UTC (rev 633)
@@ -1,5 +0,0 @@
-[DateTime] 
-[ ] tomorrow morning at ten  -- does that parse ? It seemed not to, 
-    but then it seemed to parse again. 
-[ ] from ten until seven p_m should parse as a single DateTime
-[ ] tomorrow morning from ten until seven p_m should parse as a single datetime

From tk at edam.speech.cs.cmu.edu  Mon Jun 11 12:53:41 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 11 Jun 2007 12:53:41 -0400
Subject: [TeamTalk 97]: [634] TeamTalk/Resources/Grammar/mk_nets2.pl: 1) New
 cmp. pl supersedes mk_nets2.pl
Message-ID: <200706111653.l5BGrfjt001000@edam.speech.cs.cmu.edu>

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Deleted: TeamTalk/Resources/Grammar/mk_nets2.pl
===================================================================
--- TeamTalk/Resources/Grammar/mk_nets2.pl	2007-06-11 16:47:47 UTC (rev 633)
+++ TeamTalk/Resources/Grammar/mk_nets2.pl	2007-06-11 16:53:41 UTC (rev 634)
@@ -1,18 +0,0 @@
-#!c:/perl/bin/perl -w
-
-if ( $#ARGV != 0 ) { die("usage: mk_nets <.gra file>\n"); }
-open(GRA, "$ARGV[0]") or die("Couldn't open input file!\n");
-open(NET, ">nets") or die("Couldn't open nets\n");
-
-while(<GRA>) {
-	if ( !/^\[/ ) {next;}
-	chop;
-	s/\[//g;
-	s/\]//g;
-	print NET "$_\n";
-	$cnt++;
-}
-
-print STDERR "$cnt nets found.\n";
-
-#

From tk at edam.speech.cs.cmu.edu  Mon Jun 11 22:23:01 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 11 Jun 2007 22:23:01 -0400
Subject: [TeamTalk 98]: [635]
 TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config : 1)
 Added GC_HOME so that Pythia can run without a batch file to cal it.
Message-ID: <200706120223.l5C2N1J7002137@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Modified: TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config
===================================================================
--- TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config	2007-06-11 16:53:41 UTC (rev 634)
+++ TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config	2007-06-12 02:23:01 UTC (rev 635)
@@ -1,5 +1,6 @@
 NUM_DIVISIONS: 2
 
+EXPAND: $GC_HOME ..\..\ExternalLibraries\Galaxy
 EXPAND: $MITRE_ROOT $GC_HOME\contrib\MITRE
 EXPAND: $TEAMTALK ..\..
 EXPAND: $CONFIGURATION $TEAMTALK\Configurations\DesktopConfiguration
@@ -36,7 +37,7 @@
 PROCESS: $BIN\phoenix2.exe -maxconns 6 -grammardir $GRAMMAR -grammarfn $GRAMMAR\TeamTalk.net
 PROCESS_TITLE: Phoenix
 
-PROCESS: $BIN\Audio_Server-DEBUG.exe -maxconns 6 -sps 16000 -engine_list sphinx_engines.txt
+PROCESS: $BIN\Audio_Serve.exe -maxconns 6 -sps 16000 -engine_list sphinx_engines.txt
 PROCESS_TITLE: Audio_Server
 
 PROCESS: $BIN\Sphinx_Engine -name male -argfn male-16khz.arg -port 9990

From tk at edam.speech.cs.cmu.edu  Fri Jun 15 18:49:35 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 15 Jun 2007 18:49:35 -0400
Subject: [TeamTalk 99]: [636] moast-bth: 1) Changed robot positions in
 DM-Mapping to be both next to the car.
Message-ID: <200706152249.l5FMnZjY022091@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Modified: moast-bth/TeamTalkSimulator/TeamTalkSimulator.cc
===================================================================
--- moast-bth/TeamTalkSimulator/TeamTalkSimulator.cc	2007-06-12 02:23:01 UTC (rev 635)
+++ moast-bth/TeamTalkSimulator/TeamTalkSimulator.cc	2007-06-15 22:49:34 UTC (rev 636)
@@ -47,7 +47,7 @@
 #endif
 
 #define THIS_PROCESS "sectShell"
-static const char* MAP_DUMP = "/tmp/SectMobPLDispOutput.ppm";
+static string MAP_DUMP;
 
 char nml_file_default[] = DEFAULT_NML_FILE;
 char *nml_file_env;
@@ -166,7 +166,7 @@
 }
 
 void readMapData() {
-  ifstream f(MAP_DUMP);
+  ifstream f(MAP_DUMP.c_str());
   if(!f) {
     error << "<TeamTalkSimulator::readMapData> can't open map" << endl;
     return;
@@ -255,7 +255,7 @@
   dump.serial_number = sectMobPLSetPtr->echo_serial_number + 1;
   dump.skip = 5;
   dump.dumpContinuous = true;
-  strcpy(dump.fileName, MAP_DUMP);
+  MAP_DUMP.copy(dump.fileName, MOAST_FILE_NAME_LEN);
   sectMobPLCfgBuf->write(&dump);
 }
 
@@ -372,6 +372,12 @@
   //register sigint handler
   signal(SIGINT, sigint_handler);
 
+  {
+    ostringstream o;
+    o << "/tmp/" << getuid() << "-SectMobPLDispOutput.ppm";
+    MAP_DUMP = o.str();
+  }
+
   string name = "tester";
   string peerfile;
   for(int i=1; i<argc; i++) {

Modified: moast-bth/moast/etc/moast.ini
===================================================================
--- moast-bth/moast/etc/moast.ini	2007-06-12 02:23:01 UTC (rev 635)
+++ moast-bth/moast/etc/moast.ini	2007-06-15 22:49:34 UTC (rev 636)
@@ -363,7 +363,8 @@
 UTM_ZONE = 18
 UTM_START_POSE_COUNT = 2
 UTM_START_POSE_1 = .748 -7.28 -.446 0 0 0
-UTM_START_POSE_2 = 3.63 10.8 -.446 0 0 0
+#UTM_START_POSE_2 = 3.63 10.8 -.446 0 0 0
+UTM_START_POSE_2 = 1.78 -6.28 -.446 0 0 0
 
 [DM-TallTestWorld_250]
 UNREAL_UTM_OFFSET = 0. 0. 0

From tk at edam.speech.cs.cmu.edu  Sat Jun 16 11:30:44 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sat, 16 Jun 2007 11:30:44 -0400
Subject: [TeamTalk 100]: [637]
 TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config : 1)
 Fixed typo in audioserver executable name
Message-ID: <200706161530.l5GFUiKh025566@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Modified: TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config
===================================================================
--- TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config	2007-06-15 22:49:34 UTC (rev 636)
+++ TeamTalk/Configurations/DesktopConfiguration/startlist-desktop.config	2007-06-16 15:30:43 UTC (rev 637)
@@ -37,7 +37,7 @@
 PROCESS: $BIN\phoenix2.exe -maxconns 6 -grammardir $GRAMMAR -grammarfn $GRAMMAR\TeamTalk.net
 PROCESS_TITLE: Phoenix
 
-PROCESS: $BIN\Audio_Serve.exe -maxconns 6 -sps 16000 -engine_list sphinx_engines.txt
+PROCESS: $BIN\Audio_Server.exe -maxconns 6 -sps 16000 -engine_list sphinx_engines.txt
 PROCESS_TITLE: Audio_Server
 
 PROCESS: $BIN\Sphinx_Engine -name male -argfn male-16khz.arg -port 9990

From tk at edam.speech.cs.cmu.edu  Mon Jun 18 15:30:18 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 18 Jun 2007 15:30:18 -0400
Subject: [TeamTalk 101]: [638] usarsim/System/USARBot.ini: Lowered SICK
 lidar so that bots can see each other
Message-ID: <200706181930.l5IJUIfM032207@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Modified: usarsim/System/USARBot.ini
===================================================================
--- usarsim/System/USARBot.ini	2007-06-16 15:30:43 UTC (rev 637)
+++ usarsim/System/USARBot.ini	2007-06-18 19:30:17 UTC (rev 638)
@@ -189,7 +189,7 @@
 Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R6",Position=(X=-0.21999978,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-2.618026,X=0.0))
 Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R7",Position=(X=-0.1849998,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-2.2689495,X=0.0))
 Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R8",Position=(X=-0.14499985,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
-Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.14399984,Y=0.0,Z=-0.0919999),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.14399984,Y=0.0,Z=-0.012),Direction=(Y=0.0,Z=0.0,X=0.0))
 Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
 Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
 ;Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFID",Position=(X=0.0,Y=0.0,Z=0.0),Direction=(Y=0,Z=0,X=0))

From tk at edam.speech.cs.cmu.edu  Mon Jun 18 15:35:29 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 18 Jun 2007 15:35:29 -0400
Subject: [TeamTalk 102]: [639]
 TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotShape. java:
 Removed hardcoded reference to bashful for turn uncertainty
Message-ID: <200706181935.l5IJZTCt032221@edam.speech.cs.cmu.edu>

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Modified: TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotShape.java
===================================================================
--- TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotShape.java	2007-06-18 19:30:17 UTC (rev 638)
+++ TeamTalk/Agents/PenDecoder/src/edu/cmu/ravenclaw/pendecoder/BotShape.java	2007-06-18 19:35:28 UTC (rev 639)
@@ -292,9 +292,7 @@
       placedDot = move.createTransformedShape(dot);
       
       //model placement confidence at a ring around the bot
-      float turn_uncertainty;
-      if(name.equals("BASHFUL")) turn_uncertainty = odometry_turns/50;
-      else turn_uncertainty = odometry_turns/5000;
+      float turn_uncertainty = odometry_turns/5000;
       float distance_uncertainty;
       if(turn_uncertainty >= (float)Math.PI) {
         distance_uncertainty = Float.MAX_VALUE;

From bfrisch at edam.speech.cs.cmu.edu  Fri Jun 29 13:11:38 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Fri, 29 Jun 2007 13:11:38 -0400
Subject: [TeamTalk 103]: [640] usarsim/Maps/DM-RoboticsLab_250.ut2: Adding
 Latest DM-RoboticsLab_250 .ut2
Message-ID: <200706291711.l5THBckB002437@edam.speech.cs.cmu.edu>

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Added: usarsim/Maps/DM-RoboticsLab_250.ut2
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Property changes on: usarsim/Maps/DM-RoboticsLab_250.ut2
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

From bfrisch at edam.speech.cs.cmu.edu  Fri Jun 29 13:37:33 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Fri, 29 Jun 2007 13:37:33 -0400
Subject: [TeamTalk 104]: [641] moast-bth/moast/etc/moast.ini: Adding
	DM-RoboticsLab_250 to moast.ini
Message-ID: <200706291737.l5THbXs3002598@edam.speech.cs.cmu.edu>

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Modified: moast-bth/moast/etc/moast.ini
===================================================================
--- moast-bth/moast/etc/moast.ini	2007-06-29 17:11:36 UTC (rev 640)
+++ moast-bth/moast/etc/moast.ini	2007-06-29 17:37:33 UTC (rev 641)
@@ -366,6 +366,16 @@
 #UTM_START_POSE_2 = 3.63 10.8 -.446 0 0 0
 UTM_START_POSE_2 = 1.78 -6.28 -.446 0 0 0
 
+[DM-RoboticsLab_250]
+UNREAL_UTM_OFFSET = 0. 0. 0
+RESOLUTION = 0.01905
+UTM_LETTER = N
+UTM_ZONE = 18
+UTM_START_POSE_COUNT = 2
+UTM_START_POSE_1 = 0. 0. -1. 0. 0. 0.
+#UTM_START_POSE_2 = 3.63 10.8 -.446 0 0 0
+UTM_START_POSE_2 = 1. 1. -1. 0. 0. 0.
+
 [DM-TallTestWorld_250]
 UNREAL_UTM_OFFSET = 0. 0. 0
 RESOLUTION = 0.01905

From bfrisch at edam.speech.cs.cmu.edu  Fri Jun 29 15:17:12 2007
From: bfrisch at edam.speech.cs.cmu.edu (bfrisch@edam.speech.cs.cmu.edu)
Date: Fri, 29 Jun 2007 15:17:12 -0400
Subject: [TeamTalk 105]: [642] usarsim/Maps/DM-RoboticsLab_250.ut2: Improved
 "outside" lighting on DM-RoboticsLab_250, lined up some rooms,
 bigger " Machine Shop Maze" divider wall,
 better lighting on side offices etc.
Message-ID: <200706291917.l5TJHCUx002711@edam.speech.cs.cmu.edu>

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Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
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