Public Member Functions | Static Public Member Functions | Static Public Attributes | Static Protected Member Functions | Static Protected Attributes | Static Package Functions | Package Attributes
edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport Class Reference

List of all members.

Public Member Functions

OWLNamedIndividual createAndLinkAddressPart (String[] component, OWLNamedIndividual child, OWLNamedIndividual sem_map_inst, String namespace, OWLOntology ontology)
OWLNamedIndividual createObjectInst (ObjectInstance map_obj, OWLOntology ontology)
OWLOntology createOWLMapDescription (String namespace, String map_id, ArrayList< ObjectInstance > map)
OWLOntology createOWLMapDescription (String namespace, String map_id, ArrayList< ObjectInstance > map, ArrayList< String[]> address)
OWLNamedIndividual createPerceptionInst (String type, OWLNamedIndividual obj_inst, OWLNamedIndividual pose_inst, OWLNamedIndividual timestamp, OWLOntology ontology)
OWLNamedIndividual createSemMapInst (String namespace, String map_id, OWLOntology ontology)
OWLNamedIndividual createSemObjectInstanceDescription (ObjectInstance map_obj, OWLNamedIndividual timestamp, OWLOntology ontology)
OWLNamedIndividual createTimePointInst (long stamp, OWLOntology ontology)
 OWLImportExport ()

Static Public Member Functions

static OWLNamedIndividual createDirVector (Vector3d dir_vec, OWLOntologyManager manager, OWLDataFactory factory, DefaultPrefixManager pm, OWLOntology ontology)
static OWLNamedIndividual createPoseInst (Matrix4d pose, OWLOntologyManager manager, OWLDataFactory factory, DefaultPrefixManager pm, OWLOntology ontology)
static HashMap< String,
ObjectInstance > 		readObjectInstanceFromOWL (String filename)

Static Public Attributes

static final String IAS_MAP = "http://ias.cs.tum.edu/kb/ias_semantic_map.owl#"
static final String KNOWROB = "http://ias.cs.tum.edu/kb/knowrob.owl#"
static final String KNOWROB_OWL = "owl/knowrob.owl"
static final String KNOWROB_PKG = "ias_knowledge_base"
static final String OWL = "http://www.w3.org/2002/07/owl#"
static final DefaultPrefixManager PREFIX_MANAGER = new DefaultPrefixManager(KNOWROB)
static final String RDFS = "http://www.w3.org/2000/01/rdf-schema#"

Static Protected Member Functions

static void printObjectTypes ()
static void readKnowRobObjectClasses ()

Static Protected Attributes

static final HashMap< String,
String > 		rosToKnowrob = new HashMap<String, String>()

Static Package Functions

 [static initializer]

Package Attributes

OWLDataFactory factory
OWLOntologyManager manager
DefaultPrefixManager pm

Detailed Description

Utilities for the import and export of OWL files from/to Java data structures

Author:
Moritz Tenorth, tenorth@cs.tum.edu
Lars Kunze, kunzel@cs.tum.edu

Definition at line 37 of file OWLImportExport.java.

Constructor & Destructor Documentation

edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.OWLImportExport ( ) [inline]

Definition at line 77 of file OWLImportExport.java.

Member Function Documentation

edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.[static initializer] ( ) [inline, static, package]
OWLNamedIndividual edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.createAndLinkAddressPart ( String[]  component,
OWLNamedIndividual  child,
OWLNamedIndividual  sem_map_inst,
String  namespace,
OWLOntology  ontology 
) [inline]

Create the address part of a semantic map. It contains a hierarchy of individuals, e.g. City-Street-Building-Floor-Room.

Parameters:
componentString[] of the form ["knowrob:RoomInAConstruction", "knowrob:roomNumber", "3010"]
childOptional reference to a spatial child of the current object, e.g. a room instance if the current element is a floor; null if the current element is on the lowest level above the SemanticEnvironmentMap instance
sem_map_instOWLIndividual of a SemanticEnvironmentMap
ontologyOWLOntology to which the axioms will be added
Returns:

Definition at line 266 of file OWLImportExport.java.

static OWLNamedIndividual edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.createDirVector ( Vector3d  dir_vec,
OWLOntologyManager  manager,
OWLDataFactory  factory,
DefaultPrefixManager  pm,
OWLOntology  ontology 
) [inline, static]

Create a Vector with all i components set according to the direction of the map_joint

Parameters:
dir_vecInput data vector
ontologyOntology to which the axioms are to be added
Returns:
Created instance of a Vector

Definition at line 444 of file OWLImportExport.java.

OWLNamedIndividual edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.createObjectInst ( ObjectInstance  map_obj,
OWLOntology  ontology 
) [inline]

Generate an instance of the object class indicated by map_obj.type and link it to its parent object

Parameters:
map_objObjectInstance input data
ontologyOntology to which the axioms are to be added
Returns:
Created instance of the respective object

Definition at line 347 of file OWLImportExport.java.

OWLOntology edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.createOWLMapDescription ( String  namespace,
String  map_id,
ArrayList< ObjectInstance >  map 
) [inline]

Build a complete semantic map, including name spaces, all contained objects, and the links between them.

Parameters:
namespaceNamespace of the OWL file to be created
map_idInstance identifier of the semantic map
mapList of ObjectInstances
address
Returns:

Definition at line 93 of file OWLImportExport.java.

OWLOntology edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.createOWLMapDescription ( String  namespace,
String  map_id,
ArrayList< ObjectInstance >  map,
ArrayList< String[]>  address 
) [inline]

Definition at line 97 of file OWLImportExport.java.

OWLNamedIndividual edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.createPerceptionInst ( String  type,
OWLNamedIndividual  obj_inst,
OWLNamedIndividual  pose_inst,
OWLNamedIndividual  timestamp,
OWLOntology  ontology 
) [inline]

Create an instance of a SemanticMapPerception linking objects to poses and times

Parameters:
typeType of the perception, e.g. "knowrob:SemanticMapPerception"
obj_instThe object that was detected
pose_instPose where the object was detected
timestampTime when the object was detected
ontologyOntology to which the axioms are to be added
Returns:
Created instance of SemanticMapPerception

Definition at line 474 of file OWLImportExport.java.

static OWLNamedIndividual edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.createPoseInst ( Matrix4d  pose,
OWLOntologyManager  manager,
OWLDataFactory  factory,
DefaultPrefixManager  pm,
OWLOntology  ontology 
) [inline, static]

Create a RotationMatrix3D with all m_ij components set according to the pose of the map_obj

Parameters:
map_objObjectInstance input data
ontologyOntology to which the axioms are to be added
Returns:
Created instance of a RotationMatrix3D

Definition at line 418 of file OWLImportExport.java.

OWLNamedIndividual edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.createSemMapInst ( String  namespace,
String  map_id,
OWLOntology  ontology 
) [inline]

Create an instance of a knowrob:SemanticEnvironmentMap

Parameters:
map_id
namespace
ontologyOntology to which the axioms are to be added
Returns:
Created instance of a SemanticEnvironmentMap

Definition at line 329 of file OWLImportExport.java.

OWLNamedIndividual edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.createSemObjectInstanceDescription ( ObjectInstance  map_obj,
OWLNamedIndividual  timestamp,
OWLOntology  ontology 
) [inline]

Create the OWL description for an object, including the object instance with its dimension, a pose instance where the object has been detected, and a SemanticMapPerception instance linking object, pose, and detection time

Parameters:
map_objObjectInstance input data
timestampOWLIndividual for the time when map_obj has been perceived
ontologyOntology to which the axioms are to be added

Definition at line 305 of file OWLImportExport.java.

OWLNamedIndividual edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.createTimePointInst ( long  stamp,
OWLOntology  ontology 
) [inline]

Create an instance of a knowrob:TimePoint for time t

Parameters:
tTime to be translated into a TimePoint
ontologyOntology to which the axioms are to be added
Returns:
Created instance of a TimePoint

Definition at line 400 of file OWLImportExport.java.

static void edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.printObjectTypes ( ) [inline, static, protected]

Debug method: print all object types imported from KnowRob

Definition at line 865 of file OWLImportExport.java.

static void edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.readKnowRobObjectClasses ( ) [inline, static, protected]

Initialization of the mapping between object types that are sent via the ROS service and concepts of the KnowRob ontology.

Definition at line 817 of file OWLImportExport.java.

static HashMap<String, ObjectInstance> edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.readObjectInstanceFromOWL ( String  filename) [inline, static]

Read a semantic map from an OWL file into a HashMap representation, using the object identifier as key and the object pose description as value.

Parameters:
filenameName of the OWL file to be imported
Returns:
HashMap with the object identifiers as key and the ObjectInstance data structures as values

Definition at line 505 of file OWLImportExport.java.

Member Data Documentation

OWLDataFactory edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.factory [package]

Definition at line 73 of file OWLImportExport.java.

final String edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.IAS_MAP = "http://ias.cs.tum.edu/kb/ias_semantic_map.owl#" [static]

Definition at line 54 of file OWLImportExport.java.

final String edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.KNOWROB = "http://ias.cs.tum.edu/kb/knowrob.owl#" [static]

Definition at line 45 of file OWLImportExport.java.

final String edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.KNOWROB_OWL = "owl/knowrob.owl" [static]

Definition at line 60 of file OWLImportExport.java.

final String edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.KNOWROB_PKG = "ias_knowledge_base" [static]

Definition at line 57 of file OWLImportExport.java.

OWLOntologyManager edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.manager [package]

Definition at line 74 of file OWLImportExport.java.

final String edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.OWL = "http://www.w3.org/2002/07/owl#" [static]

Definition at line 48 of file OWLImportExport.java.

DefaultPrefixManager edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.pm [package]

Definition at line 75 of file OWLImportExport.java.

final DefaultPrefixManager edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.PREFIX_MANAGER = new DefaultPrefixManager(KNOWROB) [static]

Definition at line 63 of file OWLImportExport.java.

final String edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.RDFS = "http://www.w3.org/2000/01/rdf-schema#" [static]

Definition at line 51 of file OWLImportExport.java.

final HashMap<String, String> edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport.rosToKnowrob = new HashMap<String, String>() [static, protected]

Definition at line 71 of file OWLImportExport.java.

The documentation for this class was generated from the following file:

knowrob_common
Author(s): Moritz Tenorth
autogenerated on Sat Dec 28 2013 17:09:28