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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 createDirVector (Vector3d dir_vec, OWLOntology ontology)
OWLNamedIndividual createObjectInst (ObjectInstance map_obj, OWLOntology ontology)
OWLOntology createOWLMapDescription (String namespace, String map_id, ArrayList< ObjectInstance > map, ArrayList< String[]> address)
OWLOntology createOWLMapDescription (String namespace, String map_id, ArrayList< ObjectInstance > map)
OWLNamedIndividual createPerceptionInst (String type, OWLNamedIndividual obj_inst, OWLNamedIndividual pose_inst, OWLNamedIndividual timestamp, OWLOntology ontology)
OWLNamedIndividual createPoseInst (Matrix4d pose, 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 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#"

Protected Member Functions

String instForClass (String cl)

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
int inst_counter = 0
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 79 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:
component String[] of the form ["knowrob:RoomInAConstruction", "knowrob:roomNumber", "3010"]
child Optional 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_inst OWLIndividual of a SemanticEnvironmentMap
ontology OWLOntology to which the axioms will be added
Returns:

Definition at line 268 of file OWLImportExport.java.

OWLNamedIndividual edu::tum::cs::ias::knowrob::owl::utils::OWLImportExport::createDirVector ( Vector3d  dir_vec,
OWLOntology  ontology 
) [inline]

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

Parameters:
dir_vec Input data vector
ontology Ontology to which the axioms are to be added
Returns:
Created instance of a Vector

Definition at line 446 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_obj ObjectInstance input data
ontology Ontology to which the axioms are to be added
Returns:
Created instance of the respective object

Definition at line 349 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 99 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:
namespace Namespace of the OWL file to be created
map_id Instance identifier of the semantic map
map List of ObjectInstances
address 
Returns:

Definition at line 95 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:
type Type of the perception, e.g. "knowrob:SemanticMapPerception"
obj_inst The object that was detected
pose_inst Pose where the object was detected
timestamp Time when the object was detected
ontology Ontology to which the axioms are to be added
Returns:
Created instance of SemanticMapPerception

Definition at line 475 of file OWLImportExport.java.

OWLNamedIndividual edu::tum::cs::ias::knowrob::owl::utils::OWLImportExport::createPoseInst ( Matrix4d  pose,
OWLOntology  ontology 
) [inline]

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

Parameters:
map_obj ObjectInstance input data
ontology Ontology to which the axioms are to be added
Returns:
Created instance of a RotationMatrix3D

Definition at line 420 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 
ontology Ontology to which the axioms are to be added
Returns:
Created instance of a SemanticEnvironmentMap

Definition at line 331 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_obj ObjectInstance input data
timestamp OWLIndividual for the time when map_obj has been perceived
ontology Ontology to which the axioms are to be added

Definition at line 307 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:
t Time to be translated into a TimePoint
ontology Ontology to which the axioms are to be added
Returns:
Created instance of a TimePoint

Definition at line 402 of file OWLImportExport.java.

String edu::tum::cs::ias::knowrob::owl::utils::OWLImportExport::instForClass ( String  cl  )  [inline, protected]

Create a unique instance identifier from a class string

Parameters:
cl Class string
Returns:
Instance identifier (class string plus index)

Definition at line 864 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 872 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 814 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:
filename Name 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 506 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.

int edu::tum::cs::ias::knowrob::owl::utils::OWLImportExport::inst_counter = 0 [package]

Definition at line 77 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:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Properties Friends

knowrob_common
Author(s): Moritz Tenorth
autogenerated on Tue Mar 5 12:14:08 2013