InstancePosition.java

Go to the documentation of this file.

package edu.tum.cs.ias.knowrob.mod_dialog.queries;

import java.util.HashMap;
import java.util.Vector;
import java.util.regex.Matcher;
import java.util.regex.Pattern;

import de.tum.in.fipm.kipm.gui.visualisation.applets.CommunicationVisApplet;

import edu.tum.cs.ias.knowrob.json_prolog.PrologValue;
import edu.tum.cs.ias.knowrob.mod_dialog.DialogModule;

public class InstancePosition extends SimpleTopLevelQuery {
        
        public InstancePosition(DialogModule mod) {
                super(mod);
        }

        @Override
        public String match(String q) {
                
                Matcher matcher = Pattern.compile("([w|W]here exactly is ([a-zA-Z0-9]*?)\\?)").matcher(q);
                if(matcher.find()) {
                        q=matcher.group(2);
                        dialog_module.setCurrentObject(DialogModule.toProlog(q));

                        
                        // visualize communication
                        String shortquery = "rdf_triple(orientation, "+DialogModule.toProlog(q)+", Pose),\n" +
                        "rdf_triple(m03, Pose, X),\n" +
                        "rdf_triple(m13, Pose, Y),\n" +
                        "rdf_triple(m23, Pose, Z)";
                CommunicationVisApplet.visualizeCommunication(shortquery, null, null, "rosie.png");

                        
                        String query = "rdf_triple(knowrob:orientation, "+DialogModule.toProlog(q)+", Pose)," +
                        "rdf_triple(knowrob:m03, Pose, literal(type('http://www.w3.org/2001/XMLSchema#float', X)))," +
                        "rdf_triple(knowrob:m13, Pose, literal(type('http://www.w3.org/2001/XMLSchema#float', Y)))," +
                        "rdf_triple(knowrob:m23, Pose, literal(type('http://www.w3.org/2001/XMLSchema#float', Z)))";
                
                        HashMap<String, Vector<PrologValue>> res = DialogModule.executeJSONPrologQuery(query);
                        String x = res.get("X").toString(); x=x.substring(1, x.length()-1);
                        String y = res.get("Y").toString(); y=y.substring(1, y.length()-1);
                        String z = res.get("Z").toString(); z=z.substring(1, z.length()-1);
                        

                        // visualize communication
                CommunicationVisApplet.visualizeCommunication(null, "Position: ["+x+", "+y+", "+z+"]", null, "rosie.png");

                        
                        return "At position ("+x+", "+y+", "+z+").\n"; 
                }
                
                return null;
        }

}