ros_utils.py
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00001 #!/usr/bin/env python
00002 
00003 from bayesian_belief_networks.srv import Query, QueryResponse
00004 from bayesian_belief_networks.msg import Result, Observation
00005 from bayesian.bbn import *
00006 
00007 import rospy
00008 _bnn_object = None
00009 
00010 def service_query(req):
00011     global _bnn_object
00012 
00013     kwds = dict()
00014     rospy.loginfo('query = %s'%req.query)
00015     for observation in req.query:
00016         kwds[observation.node] = observation.evidence
00017     result = _bnn_object.query(**kwds)
00018     rospy.loginfo('results = %s'%result)
00019     #
00020     res = QueryResponse()
00021     for (node, value), prob in result.items():
00022         r = Result(node,value,prob)
00023         res.results.append(r)
00024     res.results = sorted(res.results, key=lambda x: x.node)
00025     return res
00026 
00027 
00028 def ros_build_bbn(*args, **kwds):
00029     global _bnn_object
00030     "call rospy.init_node() before build_ros_bbn() and call rospy.spin() after that"
00031     _bnn_object = build_bbn(*args, **kwds)
00032     rospy.Service('~query', Query, service_query)
00033     return _bnn_object
00034 


bayesian_belief_networks
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autogenerated on Sat Sep 9 2017 02:33:24