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SemanticMapToOWL.java

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package edu.tum.cs.ias.knowrob.map;

import java.util.ArrayList;
import java.util.HashMap;
import org.semanticweb.owlapi.model.*;

import edu.tum.cs.ias.knowrob.utils.owl.MapObject;
import edu.tum.cs.ias.knowrob.utils.owl.OWLImportExport;
import edu.tum.cs.ias.knowrob.utils.owl.OWLFileUtils;

import ros.*;
import ros.pkg.mod_semantic_map.srv.*;
import ros.pkg.mod_semantic_map.msg.*;


public class SemanticMapToOWL {

        static Boolean rosInitialized = false;
        static Ros ros;
        static NodeHandle n;

        public SemanticMapToOWL() {

                try {

                        initRos();

                        n.advertiseService("/knowrob_semantic_map_to_owl/generate_owl_map", 
                                        new GenerateSemanticMapOWL(), 
                                        new ConvertToOwlCallback());
                        ros.spin();

                } catch (RosException e) {
                        e.printStackTrace();    
                }

        }



        protected static void initRos() {

                ros = Ros.getInstance();

                if(!Ros.getInstance().isInitialized()) {
                        ros.init("knowrob_semantic_map_to_owl");
                }
                n = ros.createNodeHandle();

        }

        class ConvertToOwlCallback implements ServiceServer.Callback<GenerateSemanticMapOWL.Request, GenerateSemanticMapOWL.Response> {

                @Override
                public GenerateSemanticMapOWL.Response call(GenerateSemanticMapOWL.Request req) {

                        GenerateSemanticMapOWL.Response res = new GenerateSemanticMapOWL.Response();
                        res.owlmap="";

                        if (req.map != null && req.map.objects.size()>0) {

                                OWLImportExport export = new OWLImportExport();

                                // Get IRI of target map from the frame_id of header msg
                                String map_id = req.map.header.frame_id.toString();
                                if (map_id.length() != 0) {
                                        // use provided map_id
                                        OWLImportExport.PREFIX_MANAGER.setPrefix("ias_map:", map_id);
                                } else {
                                        //use IAS_MAP as default, PREFIX_MANAGER ist set by default 
                                        map_id = OWLImportExport.IAS_MAP;
                                }
                                System.out.println("Using map id: " + map_id);
                                
                                OWLOntology owlmap = export.createOWLMapDescription(map_id, semMapObj2MapObj(map_id, req.map.objects));
                                res.owlmap = OWLFileUtils.saveOntologytoString(owlmap, owlmap.getOWLOntologyManager().getOntologyFormat(owlmap));

                        }

                        return res;
                }
        }

        
        private ArrayList<MapObject> semMapObj2MapObj(String map_id, ArrayList<SemMapObject> smos) {
                
                HashMap<Integer, MapObject> intIdToID = new HashMap<Integer, MapObject>();
                ArrayList<MapObject> mos = new ArrayList<MapObject>();
                
                for(SemMapObject smo : smos) {
                        
                        MapObject mo = new MapObject();
                        
                        mo.id = smo.type + smo.id;
                        intIdToID.put(smo.id, mo);
                        
                        mo.types.add(smo.type);
                        
                        mo.dimensions.x=smo.width;
                        mo.dimensions.y=smo.depth;
                        mo.dimensions.z=smo.height;

                        for(int i=0;i<4;i++) {
                                for(int j=0;j<4;j++) {
                                        mo.pose_matrix.setElement(i, j, smo.pose[4*i+j]);
                                }
                        }

                        if(intIdToID.get(smo.partOf) != null)
                            intIdToID.get(smo.partOf).physicalParts.add(mo);

                        mos.add(mo);
                }
                                
                return mos;
        }


        
        public static void main(String[] args) {


//              if (args.length == 0) {
                        // run service
                        new SemanticMapToOWL();
                        
//              } else {
//                      System.out.println("usage: rosrun mod_semantic_map SemanticMapToOWL");
//                      System.out.println("Commands:");
//                      System.out.println("        rosrun mod_semantic_map SemanticMapToOWL       Runs the service");
//                      System.out.println();
//              }

        }


}

---

mod_semantic_map
Author(s): Moritz Tenorth
autogenerated on Tue Dec 4 04:48:13 2012