edu.tum.cs.ias.knowrob.CopROSClient Class Reference

List of all members.

Classes
class	CopModelDBListenerThread
class	CopObjListenerThread
class	UpdateKnowRobModelDBThread
class	UpdateKnowRobObjectsThread
Public Member Functions
	CopROSClient (String node_name) throws InterruptedException, RosException, ExecutionException
void	startCopModelDBListener (String cop_topic, String cop_service)
void	startCopObjDetectionsListener (String cop_topic)
Static Public Member Functions
static String[]	copModelTypeSemClassForID (long id)
static cop_answer	copOneResult (cop_call.Request cop_req, String output_topic)
static HashMap< String, Vector < Object > >	executeQuery (String query)
static partial_lo	loQuery (String command, String objName, int objID, int refFrame) throws RosException
Static Protected Member Functions
static String	doubleArrayToPlList (double[] a)
static void	initRos (String node_name)
static String	objectArrayToPlList (Object[] a)
Package Attributes
Thread	listenToCopDB
Thread	listenToCopObjDetections
Thread	updateKnowRobModelDB
Thread	updateKnowRobObjDetections
Static Package Attributes
static Subscriber.QueueingCallback < cop_answer >	copModelDBCallback
static Subscriber.QueueingCallback < cop_answer >	copObjectDetectionsCallback
static NodeHandle	n
static Ros	ros
static Boolean	rosInitialized = false
Static Private Member Functions
static String	copToKnowrob (String copIdentifier)

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Detailed Description

Definition at line 43 of file CopROSClient.java.

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Constructor & Destructor Documentation

edu.tum.cs.ias.knowrob.CopROSClient.CopROSClient

(

String

node_name

)

throws InterruptedException, RosException, ExecutionException [inline]

Client library for listening to CoP messages and asserting the object detections in KnowRob

Author:

tenorth@cs.tum.edu

Definition at line 65 of file CopROSClient.java.

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Member Function Documentation

static String [] edu.tum.cs.ias.knowrob.CopROSClient.copModelTypeSemClassForID

(

long

id

)

[inline, static]

encapsulate the CoP interaction (triggering an action by calling a service and listening on a topic for the results

Parameters:

id	The CoP ID to be queried for

Returns:

Array{modelType, semClass} for this CoP ID

Definition at line 475 of file CopROSClient.java.

static cop_answer edu.tum.cs.ias.knowrob.CopROSClient.copOneResult	(	cop_call.Request	cop_req,
		String	output_topic
	)		[inline, static]

call CoP and return the first result published on the given response topic

Parameters:

cop_req
output_topic

Returns:

Definition at line 522 of file CopROSClient.java.

static String edu.tum.cs.ias.knowrob.CopROSClient.copToKnowrob

(

String

copIdentifier

)

[inline, static, private]

Translate a CoP identifier into the corresponding KnowRob string. Uses the mapping defined in comp_cop.pl

Parameters:

copIdentifier

The name of something in CoP

Returns:

The name of the same thing in KnowRob

Definition at line 369 of file CopROSClient.java.

static String edu.tum.cs.ias.knowrob.CopROSClient.doubleArrayToPlList

(

double[]

a

)

[inline, static, protected]

Definition at line 350 of file CopROSClient.java.

static HashMap<String, Vector<Object> > edu.tum.cs.ias.knowrob.CopROSClient.executeQuery

(

String

query

)

[inline, static]

Wrapper around the JPL Prolog interface

Parameters:

query

A query string in common SWI Prolog syntax

Returns:

A HashMap<VariableName, ResultsVector>

Definition at line 425 of file CopROSClient.java.

static void edu.tum.cs.ias.knowrob.CopROSClient.initRos

(

String

node_name

)

[inline, static, protected]

Thread-safe ROS initialization

Definition at line 100 of file CopROSClient.java.

static partial_lo edu.tum.cs.ias.knowrob.CopROSClient.loQuery	(	String	command,
		String	objName,
		int	objID,
		int	refFrame
	)		throws RosException [inline, static]

Interface to the jlo service for coordinate transformations. Send a query to jlo to retrieve the transformation for a point in a given coordinate frame.

Parameters:

command	jlo query type: 'namequery' or 'framequery'
objName	if namequery: the name of the object to query for
objID	if framequery: the loID of the object to query for
refFrame	if framequery: the loID of the desired parent frame the result should be returned in

Returns:

partial_lo with the coordinates of the desired lo object in the frame given by refFrame

Exceptions:

RosException

Definition at line 397 of file CopROSClient.java.

static String edu.tum.cs.ias.knowrob.CopROSClient.objectArrayToPlList

(

Object[]

a

)

[inline, static, protected]

Convert a Java array into a Prolog list to be used in the string-based query interface

Parameters:

a	The array to be converted

Returns:

A Prolog list of the form ['a0', 'a1']

Definition at line 335 of file CopROSClient.java.

void edu.tum.cs.ias.knowrob.CopROSClient.startCopModelDBListener	(	String	cop_topic,
		String	cop_service
	)		[inline]

Definition at line 75 of file CopROSClient.java.

void edu.tum.cs.ias.knowrob.CopROSClient.startCopObjDetectionsListener

(

String

cop_topic

)

[inline]

Definition at line 85 of file CopROSClient.java.

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Member Data Documentation

Subscriber.QueueingCallback<cop_answer> edu.tum.cs.ias.knowrob.CopROSClient.copModelDBCallback [static, package]

Definition at line 51 of file CopROSClient.java.

Subscriber.QueueingCallback<cop_answer> edu.tum.cs.ias.knowrob.CopROSClient.copObjectDetectionsCallback [static, package]

Definition at line 50 of file CopROSClient.java.

Thread edu.tum.cs.ias.knowrob.CopROSClient.listenToCopDB [package]

Definition at line 53 of file CopROSClient.java.

Thread edu.tum.cs.ias.knowrob.CopROSClient.listenToCopObjDetections [package]

Definition at line 55 of file CopROSClient.java.

NodeHandle edu.tum.cs.ias.knowrob.CopROSClient.n [static, package]

Definition at line 47 of file CopROSClient.java.

Ros edu.tum.cs.ias.knowrob.CopROSClient.ros [static, package]

Definition at line 46 of file CopROSClient.java.

Boolean edu.tum.cs.ias.knowrob.CopROSClient.rosInitialized = false [static, package]

Definition at line 45 of file CopROSClient.java.

Thread edu.tum.cs.ias.knowrob.CopROSClient.updateKnowRobModelDB [package]

Definition at line 54 of file CopROSClient.java.

Thread edu.tum.cs.ias.knowrob.CopROSClient.updateKnowRobObjDetections [package]

Definition at line 56 of file CopROSClient.java.

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

• CopROSClient.java