Static Public Member Functions
static void	assertActionEndTime (String actionInst)
static void	assertDataPropertyForInst (String inst, String prop, String val, String type)
static void	assertObjectPropertyForInst (String inst, String prop, String val)
static void	assertPropertiesForInstance (String inst, HashMap< String, Vector< String >> propVal)
static void	assertSubClassOf (String subClass, String superClass)
static void	clearActionStateTransitions (String action)
static void	clearActionVisHighlight ()
static String	createActionInst (String currentActClass)
static String	createObjInstWithPose (String objClass, String perceptionMethod, Vector< Float > pose)
static String	createOWLInst (String owlClass)
static String	createRestriction (String owlClass, String prop, String value, String restrType, String sourceRef)
static String	createStateTransition (String fromState, String toState, String causedBy)
static void	deleteObjectInstance (String iri)
static void	deleteObjectInstanceWithChildren (String iri)
static boolean	evaluateCondition (String condition, String objActOn)
static String	getSemanticMapInstance (String roomNumber, String floorNumber, String streetNumber, String streetName)
static void	linkActionInTaskContext (String actionInst, String recipeInst)
static void	loadActionIntoVis (String recipe_class)
static boolean	owlClassExists (String owlClass)
static void	parseOwlFile (String filename)
static Vector< String >	readAllInstancesOfClass (String owlClass)
static HashMap< String, Vector < String > >	readInformationForClass (String owlClass)
static HashMap< String, Vector < String > >	readInformationForInstance (String owlInst)
static String	readLatestDetectionOfObjectClass (String objClass)
static String	readLatestDetectionOfObjectInst (String objInst)
static int	readNumObjectInstances (String objClass)
static Vector< Float >	readObjectClassPose (String objClass)
static Vector< Float >	readObjectPose (String objInst)
static String	readOutputOfPrevAction (String currentActInst, String prevActionClass, String prop)
static Vector< Float >	readPointXYAZPose (String pointInst)
static Vector< Float >	readPointXYPose (String pointInst)
static Vector< String >	readPrevActionInTask (String currentActInst)
static String	readRecipeClass (String command)
static Vector< String >	readTypesOfInstance (String owlInst)
static void	setActionVisHighlight (String action_class)
static void	setObjPose (String objInst, String perceptionMethod, Vector< Float > pose)
static void	startActionVis (String recipe_class)
static void	writeActionToOWLFile (String actionClass, String file)

Detailed Description

Prolog query wrapper classes for reading and writing information from/to the belief state in the UNR execution engine.

These classes are to serve as convenience methods to facilitate the access to information in the belief state without having to deal with Prolog statements.

Author:: Moritz Tenorth, tenorth@atr.jp; tenorth

Definition at line 27 of file PrologQueryUtils.java.

Member Function Documentation

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.assertActionEndTime ( String actionInst ) [inline, static]

Sets the endTime of an action to the current time point

Parameters:

actionInst Action instance whose end time is to be set

Definition at line 454 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.assertDataPropertyForInst	(	String	inst,
		String	prop,
		String	val,
		String	type
	)		`[inline, static]`

Assert a single property for an instance

Parameters:

inst	OWL identifier of an instance such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup123'
prop	OWL identifier of a property such as 'http://ias.cs.tum.edu/kb/knowrob.owl#on-Physical'
val	String value to be asserted
type	Type of val (usually an XSD type such as 'http://www.w3.org/2001/XMLSchema#string'

Definition at line 538 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.assertObjectPropertyForInst	(	String	inst,
		String	prop,
		String	val
	)		`[inline, static]`

Assert a single property for an instance

Parameters:

inst	OWL identifier of an instance such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup123'
prop	OWL identifier of a property such as 'http://ias.cs.tum.edu/kb/knowrob.owl#on-Physical'
val	OWL identifier of an instance such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup123'

Definition at line 519 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.assertPropertiesForInstance	(	String	inst,
		HashMap< String, Vector< String >>	propVal
	)		`[inline, static]`

Assert a set of properties for an instance (given as HashMap propName--Vector<values>)

Parameters:

instOWL	identifier of an instance such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup123'
propVal	HashMap<String, Vector<String> of the form propName --> Vector(propValues)

Definition at line 498 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.assertSubClassOf	(	String	subClass,
		String	superClass
	)		`[inline, static]`

Add a subClassOf axiom for a class

Parameters:

subClass	OWL identifier of the subclass such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup'
superClass	OWL identifier of the superclass such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Container'

Definition at line 584 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.clearActionStateTransitions ( String action ) [inline, static]

Clear state transitions asserted for an action (i.e. the transitions between sub-actions)

Parameters:

owlClass The action whose sub-action transitions are to be cleared

Definition at line 654 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.clearActionVisHighlight ( ) [inline, static]

Definition at line 38 of file PrologQueryUtils.java.

static String edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.createActionInst ( String currentActClass ) [inline, static]

Create an instance of the current action, assert startTime

Parameters:

currentActClass OWL identifier of the current action class such as 'http://ias.cs.tum.edu/kb/knowrob.owl#PickingUpAnObject'

Definition at line 432 of file PrologQueryUtils.java.

static String edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.createObjInstWithPose	(	String	objClass,
		String	perceptionMethod,
		Vector< Float >	pose
	)		`[inline, static]`

Create an instance of an object/person incl. pose (and detection of the pose)

Parameters:

objClass
perceptionMethod

Returns:

Definition at line 684 of file PrologQueryUtils.java.

static String edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.createOWLInst ( String owlClass ) [inline, static]

Create an instance of an OWL Class

Parameters:

owlClass The class to be instantiated

Returns:

Definition at line 599 of file PrologQueryUtils.java.

static String edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.createRestriction	(	String	owlClass,
		String	prop,
		String	value,
		String	restrType,
		String	sourceRef
	)		`[inline, static]`

Creates an OWL class restriction in Prolog

Parameters:

owlClass	Object class to which the restriction is to be added
prop	Property to be restricted
value	Value definition to be set
restrType	Type of restriction (owl:someValuesFrom, owl:allValuesFrom or owl:hasValue)
sourceRef	String to identify the source module of the created triples

Returns:: Identifier of the generated restriction

Definition at line 560 of file PrologQueryUtils.java.

static String edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.createStateTransition	(	String	fromState,
		String	toState,
		String	causedBy
	)		`[inline, static]`

Create an instance of a state transition

Parameters:

owlClass The class to be instantiated

Returns:

Definition at line 620 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.deleteObjectInstance ( String iri ) [inline, static]

Definition at line 829 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.deleteObjectInstanceWithChildren ( String iri ) [inline, static]

Definition at line 834 of file PrologQueryUtils.java.

static boolean edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.evaluateCondition	(	String	condition,
		String	objActOn
	)		`[inline, static]`

Check if 'objActOn' fulfills the condition 'condition' (if objActOn is an individual) or if any of its individuals fulfills the condition (it objActOn is a class)

Parameters:

condition	OWL Class specification (usually based on restrictions)
objActOn	OWL Class or individual

Returns:: true if objActOn is an individual of condition

Definition at line 757 of file PrologQueryUtils.java.

static String edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.getSemanticMapInstance	(	String	roomNumber,
		String	floorNumber,
		String	streetNumber,
		String	streetName
	)		`[inline, static]`

Convenience method to read the (first) instance of a SemanticEnvironmentMap

Parameters:

streetName
streetNumber
floorNumber
roomNumber

Returns:: IRI of the first instance of a SemanticEnvironmentMap found in the knowledge base

Definition at line 787 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.linkActionInTaskContext	(	String	actionInst,
		String	recipeInst
	)		`[inline, static]`

Links action to the higher-level task instance and to the previous action in the task

Parameters:

actionInst	Action instance to be integrated
recipeinst	Higher-level task that actionInst is part of

Definition at line 469 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.loadActionIntoVis ( String recipe_class ) [inline, static]

Definition at line 49 of file PrologQueryUtils.java.

static boolean edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.owlClassExists ( String owlClass ) [inline, static]

Checks if an OWL class exists in KnowRob (by checking if it is derived from another class using a subClassOf definition)

Parameters:

owlClass Identifier of an OWL class such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup'

Returns:: true if class exists

Definition at line 411 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.parseOwlFile ( String filename ) [inline, static]

Definition at line 54 of file PrologQueryUtils.java.

static Vector<String> edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readAllInstancesOfClass ( String owlClass ) [inline, static]

Select all instances of a class

Parameters:

owlClass Identifier of an OWL class such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup'

Returns:: Vector of OWL identifiers of all object instances

Definition at line 88 of file PrologQueryUtils.java.

static HashMap<String, Vector<String> > edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readInformationForClass ( String owlClass ) [inline, static]

Read all information for a class (class_properties)

Parameters:

owlClass Identifier of an OWL class such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup'

Returns:: HashMap of the form <String, Vector<String>> containing the OWL properties (key "P") and their values (key "O")

Definition at line 166 of file PrologQueryUtils.java.

static HashMap<String, Vector<String> > edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readInformationForInstance ( String owlInst ) [inline, static]

Read all information for an instance (owl_has)

Parameters:

owlInst Identifier of an OWL instance such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup123'

Returns:: HashMap of the form <String, Vector<String>> containing the OWL properties (key "P") and their values (key "O")

Definition at line 149 of file PrologQueryUtils.java.

static String edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readLatestDetectionOfObjectClass ( String objClass ) [inline, static]

Read the latest detection of an object/person/... class

Parameters:

objClass Identifier of an OWL class such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup'

Returns:: OWL identifier of the latest detection of any instance of objClass

Definition at line 129 of file PrologQueryUtils.java.

static String edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readLatestDetectionOfObjectInst ( String objInst ) [inline, static]

Read the latest detection of an object/person/... instance

Parameters:

objInst OWL identifier of an object instance such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup123'

Returns:: OWL identifier of the latest detection of objInst

Definition at line 109 of file PrologQueryUtils.java.

static int edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readNumObjectInstances ( String objClass ) [inline, static]

Read the number of instances that exist for one class, e.g. to check if there are at least N instances

Parameters:

objClass Identifier of an OWL class such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup'

Returns:: Number of instances of objClass that exist in the knowledge base

Definition at line 66 of file PrologQueryUtils.java.

static Vector<Float> edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readObjectClassPose ( String objClass ) [inline, static]

Read the 6D pose matrix of the first instance of the class objClass that can be found.

'Object' is thereby defined in a very wide sense (knowrob:'EnduringThing-Localized') and also includes people and robots.

TODO: switch from the hacky vector format to RLS or something cleaner and better-defined

Parameters:

objClass OWL identifier of an object class such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup'

Returns:: 16-element vector with the row-based pose matrix [m00,m01,m02,m03,m10,...]

Definition at line 371 of file PrologQueryUtils.java.

static Vector<Float> edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readObjectPose ( String objInst ) [inline, static]

Read the 6D pose matrix of a given object instance

'Object' is thereby defined in a very wide sense (knowrob:'EnduringThing-Localized') and also includes people and robots.

TODO: switch from the hacky vector format to RLS or something cleaner and better-defined

Parameters:

objInst OWL identifier of an object instance such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup123'

Returns:: 16-element vector with the row-based pose matrix [m00,m01,m02,m03,m10,...]

Definition at line 336 of file PrologQueryUtils.java.

static String edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readOutputOfPrevAction	(	String	currentActInst,
		String	prevActionClass,
		String	prop
	)		`[inline, static]`

Read output 'prop' of an earlier action 'actionClass' performed in the task

Parameters:

currentActInst	OWL identifier of an action instance such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Pick123'
prevActionClass	Type of the previous action whose output is to be read
prop	Property of that action whose value is to be read

Returns:: Value of prop for an instance of actionClass

Definition at line 238 of file PrologQueryUtils.java.

static Vector<Float> edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readPointXYAZPose ( String pointInst ) [inline, static]

Read the XY-position plus AZ-orientation of a given point instance

TODO: switch from the hacky vector format to RLS or something cleaner and better-defined

Parameters:

pointInst OWL identifier of a point such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Point123'

Returns:: three-element vector [x,y,az]

Definition at line 301 of file PrologQueryUtils.java.

static Vector<Float> edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readPointXYPose ( String pointInst ) [inline, static]

Read the XY-position of a given point instance

TODO: switch from the hacky vector format to RLS or something cleaner and better-defined

Parameters:

pointInst OWL identifier of a point such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Point123'

Returns:: two-element vector [x,y]

Definition at line 271 of file PrologQueryUtils.java.

static Vector<String> edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readPrevActionInTask ( String currentActInst ) [inline, static]

Read prior actions performed in the task

Parameters:

currentActInst OWL identifier of an action instance such as 'http://ias.cs.tum.edu/kb/knowrob.owl#Pick123'

Returns:: Vector of OWL identifiers of the previous actions in the current task

Definition at line 216 of file PrologQueryUtils.java.

static String edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readRecipeClass ( String command ) [inline, static]

Read the main action class for the command to be performed (using the forCommand specification)

Parameters:

command The command the recipe is to execute, e.g. 'serve a drink'

Returns:: The OWL class describing the recipe, e.g. roboearth:'ServeADrink'

Exceptions:

IOException

Definition at line 197 of file PrologQueryUtils.java.

static Vector<String> edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.readTypesOfInstance ( String owlInst ) [inline, static]

Definition at line 176 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.setActionVisHighlight ( String action_class ) [inline, static]

Definition at line 31 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.setObjPose	(	String	objInst,
		String	perceptionMethod,
		Vector< Float >	pose
	)		`[inline, static]`

Set the pose of an instance by adding a detection to it

Parameters:

objInst
perceptionMethod
pose

Definition at line 721 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.startActionVis ( String recipe_class ) [inline, static]

Definition at line 44 of file PrologQueryUtils.java.

static void edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.writeActionToOWLFile	(	String	actionClass,
		String	file
	)		`[inline, static]`

Definition at line 824 of file PrologQueryUtils.java.

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

PrologQueryUtils.java

Static Public Member Functions

Detailed Description

Member Function Documentation