Menu
▾
▴
[TUM-ros-pkg-commit] SF.net SVN: tum-ros-pkg:[466] stacks/knowrob
|
From: <tum...@li...> - 2010-04-24 23:07:47
|
Revision: 466
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=466&view=rev
Author: moesenle
Date: 2010-04-24 23:07:40 +0000 (Sat, 24 Apr 2010)
Log Message:
-----------
Author: Lorenz M?\195?\182senlechner <moe...@in...>
Date: Sat Apr 24 15:59:58 2010 -0700
commit a015ed743c6e21ecbdcb9d35b57f2a0ce4940d5c
Author: Moritz Tenorth <te...@cs...>
Date: Mon Mar 15 16:17:05 2010 +0100
fixed problem with local paths in init.pl
rosprolog now finds referenced OWL files also when it is not started in the package's prolog directory
fixing ticket #37
commit 68c5de4e0886310e60afb7df33db1239f0cd1109
Author: Lorenz M?\195?\182senlechner <moe...@in...>
Date: Mon Mar 8 19:01:02 2010 +0100
Refactoring: renamed all occurrences of inf9 to ias.
If something brakes, don't blame me and fix it yourself :)
commit 755a975ba19a8054b864e0db352cbaa34ea14413
Author: Moritz Tenorth <te...@cs...>
Date: Wed Feb 10 14:49:28 2010 +0100
copied changes from OWL repository, revision 214\n\n=Path: owl
URL: svn+ssh://sv...@sv.../knowledge/trunk/owl
Repository Root: svn+ssh://sv...@sv.../knowledge
Repository UUID: 7519aae1-3b1a-4aea-b015-717ca8ac3afd
Revision: 214
Node Kind: directory
Last Changed Author: tenorth
Last Changed Rev: 214
Last Changed Date: 2010-02-10 14:49:15 +0100 (Wed, 10 Feb 2010)
commit c04ebc00449927bdfb20446fc0e15a23a0aabc0e
Author: Moritz Tenorth <te...@cs...>
Date: Wed Feb 3 16:19:41 2010 +0100
exporting first version of the knowledge processing system
git-commit
Revision Links:
--------------
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=214&view=rev
Added Paths:
-----------
stacks/knowrob/comp_ros/
stacks/knowrob/comp_ros/CMakeLists.txt
stacks/knowrob/comp_ros/Makefile
stacks/knowrob/comp_ros/lib/
stacks/knowrob/comp_ros/lib/ros_client.jar
stacks/knowrob/comp_ros/mainpage.dox
stacks/knowrob/comp_ros/manifest.xml
stacks/knowrob/comp_ros/owl/
stacks/knowrob/comp_ros/owl/comp_ros.owl.in
stacks/knowrob/comp_ros/prolog/
stacks/knowrob/comp_ros/prolog/comp_ros.pl
stacks/knowrob/comp_ros/prolog/init.pl.in
Added: stacks/knowrob/comp_ros/CMakeLists.txt
===================================================================
--- stacks/knowrob/comp_ros/CMakeLists.txt (rev 0)
+++ stacks/knowrob/comp_ros/CMakeLists.txt 2010-04-24 23:07:40 UTC (rev 466)
@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+
+rosbuild_init()
+
+add_classpath(${comp_ros_PACKAGE_PATH}/lib/ros_client.jar)
+
+rosbuild_find_ros_package(ias_knowledge_base)
+set( OWL_PATH_PREFIX ${ias_knowledge_base_PACKAGE_PATH} )
+
+file(GLOB inputs owl/*.in)
+
+foreach( _in ${inputs} )
+ string(REPLACE ".in" "" _out ${_in})
+ configure_file( ${_in} ${_out} )
+endforeach( _in )
+
+# replace path to local OWL files
+rosbuild_find_ros_package(comp_ros)
+set( LOCAL_PACKAGE_PATH ${comp_ros_PACKAGE_PATH} )
+
+file(GLOB inputs prolog/*.in)
+foreach( _in ${inputs} )
+ string(REPLACE ".in" "" _out ${_in})
+ configure_file( ${_in} ${_out} )
+endforeach( _in )
Added: stacks/knowrob/comp_ros/Makefile
===================================================================
--- stacks/knowrob/comp_ros/Makefile (rev 0)
+++ stacks/knowrob/comp_ros/Makefile 2010-04-24 23:07:40 UTC (rev 466)
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
Added: stacks/knowrob/comp_ros/lib/ros_client.jar
===================================================================
(Binary files differ)
Property changes on: stacks/knowrob/comp_ros/lib/ros_client.jar
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Added: stacks/knowrob/comp_ros/mainpage.dox
===================================================================
--- stacks/knowrob/comp_ros/mainpage.dox (rev 0)
+++ stacks/knowrob/comp_ros/mainpage.dox 2010-04-24 23:07:40 UTC (rev 466)
@@ -0,0 +1,30 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b ias_comp_ros is ...
+
+<!--
+In addition to providing an overview of your package,
+this is the section where the specification and design/architecture
+should be detailed. While the original specification may be done on the
+wiki, it should be transferred here once your package starts to take shape.
+You can then link to this documentation page from the Wiki.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/
Added: stacks/knowrob/comp_ros/manifest.xml
===================================================================
--- stacks/knowrob/comp_ros/manifest.xml (rev 0)
+++ stacks/knowrob/comp_ros/manifest.xml 2010-04-24 23:07:40 UTC (rev 466)
@@ -0,0 +1,24 @@
+<package>
+ <description brief="comp_ros">
+
+ comp_ros
+
+ Interface to ROS for reading data. Currently used for accessing the jlo
+ service, but likely to be extended to other services.
+
+ </description>
+ <author>Moritz Tenorth</author>
+ <license>GPL</license>
+ <review status="unreviewed" notes=""/>
+ <url>http://ias.in.tum.de/kb/wiki/index.php/comp_ros</url>
+
+ <depend package="ias_knowledge_base"/>
+ <depend package="kb_computable_client"/>
+
+ <export>
+ <java classpath="${prefix}/lib/ros_client.jar"/>
+ </export>
+
+</package>
+
+
Added: stacks/knowrob/comp_ros/owl/comp_ros.owl.in
===================================================================
--- stacks/knowrob/comp_ros/owl/comp_ros.owl.in (rev 0)
+++ stacks/knowrob/comp_ros/owl/comp_ros.owl.in 2010-04-24 23:07:40 UTC (rev 466)
@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+<!DOCTYPE rdf:RDF [
+
+ <!ENTITY local_path 'file://@OWL_PATH_PREFIX@/owl/'>
+ <!ENTITY rdf 'http://www.w3.org/1999/02/22-rdf-syntax-ns'>
+ <!ENTITY rdfs 'http://www.w3.org/2000/01/rdf-schema'>
+ <!ENTITY owl 'http://www.w3.org/2002/07/owl'>
+ <!ENTITY xsd 'http://www.w3.org/2001/XMLSchema'>
+ <!ENTITY knowrob 'http://ias.cs.tum.edu/kb/knowrob.owl'>
+ <!ENTITY actionmodel 'http://ias.cs.tum.edu/kb/actionmodel.owl'>
+
+]>
+
+<rdf:RDF
+ xmlns:computable="http://ias.cs.tum.edu/kb/computable.owl#"
+ xmlns:swrl="http://www.w3.org/2003/11/swrl#"
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns="http://ias.cs.tum.edu/kb/comp_ros.owl#"
+ xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#"
+ xmlns:owl="http://www.w3.org/2002/07/owl#"
+ xmlns:am="&actionmodel;#"
+ xmlns:knowrob="&knowrob;#"
+ xml:base="http://ias.cs.tum.edu/kb/comp_ros.owl">
+ <owl:Ontology rdf:about="">
+ <owl:imports rdf:resource="&local_path;knowrob.owl"/>
+ </owl:Ontology>
+
+
+
+ <owl:ObjectProperty rdf:about="#covariance">
+ <rdfs:range rdf:resource="#CovarianceMatrix"/>
+ <rdfs:domain rdf:resource="#SpatialThing-Localized"/>
+ <rdfs:subPropertyOf rdf:resource="&knowrob;#covariance"/>
+ </owl:ObjectProperty>
+
+ <owl:ObjectProperty rdf:about="#orientation">
+ <rdfs:range rdf:resource="#RotationMatrix"/>
+ <rdfs:domain rdf:resource="#SpatialThing-Localized"/>
+ <rdfs:subPropertyOf rdf:resource="&knowrob;#orientation"/>
+ </owl:ObjectProperty>
+
+ <computable:PrologProperty rdf:about="#computeLoOrientation">
+ <computable:command rdf:datatype="&xsd;string">comp_ros:comp_lo_orientation</computable:command>
+ <computable:cache rdf:datatype="&xsd;string">dontCache</computable:cache>
+ <computable:visible rdf:datatype="&xsd;string">unvisible</computable:visible>
+ <computable:target rdf:resource="#orientation"/>
+ </computable:PrologProperty>
+
+ <computable:PrologProperty rdf:about="#computeLoCovariance">
+ <computable:command rdf:datatype="&xsd;string">comp_ros:comp_lo_covariance</computable:command>
+ <computable:cache rdf:datatype="&xsd;string">dontCache</computable:cache>
+ <computable:visible rdf:datatype="&xsd;string">unvisible</computable:visible>
+ <computable:target rdf:resource="#covariance"/>
+ </computable:PrologProperty>
+
+
+</rdf:RDF>
Added: stacks/knowrob/comp_ros/prolog/comp_ros.pl
===================================================================
--- stacks/knowrob/comp_ros/prolog/comp_ros.pl (rev 0)
+++ stacks/knowrob/comp_ros/prolog/comp_ros.pl 2010-04-24 23:07:40 UTC (rev 466)
@@ -0,0 +1,124 @@
+/** <module> comp_ros
+
+ Interface to ROS to retrieve information via the robot middleware
+
+ The computables defined here are stubs that interface with a client program
+ written in Java inside the KBClient class
+
+ Copyright (C) 2010 by Moritz Tenorth
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+@author Moritz Tenorth
+@license GPL
+*/
+
+:- module(comp_ros,
+ [
+ comp_lo_orientation/2,
+ comp_lo_covariance/2,
+ query_lo_orientation/5,
+ query_lo_covariance/5
+ ]).
+
+:- use_module(library('semweb/rdfs')).
+:- use_module(library('semweb/rdf_db')).
+:- use_module(library('semweb/rdfs_computable')).
+:- use_module(library('jpl')).
+:- use_module(library('util')).
+
+
+%% comp_lo_orientation(+Name, -Orientation) is nondet.
+%
+% Compute the orientation of object Name by issueing a 'namequery' to the
+% lo-service via the ROS middleware.
+%
+% @param Name Object identifier
+% @param Orientation Orientation matrix (4x4) as String rotMat3D-(P00)-(P01)-(P02)-(P03)-(P10)-(P11)-(P12)-(P13)-(P20)-(P21)-(P22)-(P23)-(P30)-(P31)-(P32)-(P33)
+
+ comp_lo_orientation(Name, Orientation) :-
+ rdfs_instance_of(Name, knowrob:'EnduringThing-Localized'),!,
+ query_lo_orientation('namequery', Name, -1, -1, Orientation).
+
+
+%% comp_lo_covariance(+Name, -Covariance) is nondet.
+%
+% Compute the covariance of object Name by issueing a 'namequery' to the
+% lo-service via the ROS middleware.
+%
+% @param Name Object identifier
+% @param Covariance Covariance matrix (6x6) as String covMat3D-(P00)-(P01)-(P02)-(P03)-(P04)-(P05)-(P10)-(P11)-(P12)-(P13)-(P14)-(P15)-(P20)-(P21)-(P22)-(P23)-(P24)-(P25)-(P30)-(P31)-(P32)-(P33)-(P34)-(P35)-(P40)-(P41)-(P42)-(P43)-(P44)-(P45)-(P50)-(P51)-(P52)-(P53)-(P54)-(P55)
+
+ comp_lo_covariance(Name, Covariance) :-
+ rdfs_instance_of(Name, knowrob:'EnduringThing-Localized'),!,
+ query_lo_covariance('namequery', Name, -1, -1, Covariance).
+
+
+
+%% query_lo_orientation(+Type, ?Name, ?ObjID, ?ParentID, -Orientation) is nondet.
+%
+% Low-level interface to the ROS lo-service for computing and converting positions
+% and orientations in different coordinate systems
+%
+% @param Type lo query type, either 'namequery' or 'framequery'
+% @param Name lo object name (needs to be bound for 'namequery'
+% @param ObjID lo object ID (needs to be bound for 'framequery'
+% @param ParentID lo parent object ID (i.e. ID of the reference coordinate frame), can be bound for 'framequery'
+% @param Orientation returned orientation matrix (4x4) as String rotMat3D-(P00)-(P01)-(P02)-(P03)-(P10)-(P11)-(P12)-(P13)-(P20)-(P21)-(P22)-(P23)-(P30)-(P31)-(P32)-(P33)
+
+ query_lo_orientation(Type, Name, ObjID, ParentID, Orientation) :-
+
+ % call lo
+ jpl_call('KBClient', 'loQuery', [Type, Name, ObjID, ParentID], Answer),
+ jpl_get(Answer, 'pose', JPose),
+ arrays_to_lists(JPose, Pose),
+
+ % read the single pose values from the result, combine to string representation
+ nth0(0, Pose, P00), nth0(1, Pose, P01), nth0(2, Pose, P02), nth0(3, Pose, P03),
+ nth0(4, Pose, P10), nth0(5, Pose, P11), nth0(6, Pose, P12), nth0(7, Pose, P13),
+ nth0(8, Pose, P20), nth0(9, Pose, P21), nth0(10, Pose, P22), nth0(11, Pose, P23),
+ nth0(12, Pose, P30), nth0(13, Pose, P31), nth0(14, Pose, P32), nth0(15, Pose, P33),
+ term_to_atom(rotMat3D-(P00)-(P01)-(P02)-(P03)-(P10)-(P11)-(P12)-(P13)-(P20)-(P21)-(P22)-(P23)-(P30)-(P31)-(P32)-(P33), Orientation).
+
+
+
+
+%% query_lo_covariance(+Type, ?Name, ?ObjID, ?ParentID, -Covariance) is nondet.
+%
+% Low-level interface to the ROS lo-service for computing and converting positions
+% and orientations in different coordinate systems
+%
+% @param Type lo query type, either 'namequery' or 'framequery'
+% @param Name lo object name (needs to be bound for 'namequery'
+% @param ObjID lo object ID (needs to be bound for 'framequery'
+% @param ParentID lo parent object ID (i.e. ID of the reference coordinate frame), can be bound for 'framequery'
+% @param Covariance returned covariance matrix (6x6) as String covMat3D-(P00)-(P01)-(P02)-(P03)-(P04)-(P05)-(P10)-(P11)-(P12)-(P13)-(P14)-(P15)-(P20)-(P21)-(P22)-(P23)-(P24)-(P25)-(P30)-(P31)-(P32)-(P33)-(P34)-(P35)-(P40)-(P41)-(P42)-(P43)-(P44)-(P45)-(P50)-(P51)-(P52)-(P53)-(P54)-(P55)
+
+ query_lo_covariance(Type, Name, ObjID, ParentID, Covariance) :-
+
+ % call lo
+ jpl_call('KBClient', 'loQuery', [Type, Name, ObjID, ParentID], Answer),
+ jpl_get(Answer, 'cov', JCov),
+ arrays_to_lists(JCov, Cov),
+
+ % read the single cov values from the result, combine to string representation
+ nth0(0, Cov, P00), nth0(1, Cov, P01), nth0(2, Cov, P02), nth0(3, Cov, P03), nth0(4, Cov, P04), nth0(5, Cov, P05),
+ nth0(6, Cov, P10), nth0(7, Cov, P11), nth0(8, Cov, P12), nth0(9, Cov, P13), nth0(10, Cov, P14), nth0(11, Cov, P15),
+ nth0(12, Cov, P20), nth0(13, Cov, P21), nth0(14, Cov, P22), nth0(15, Cov, P23), nth0(16, Cov, P24), nth0(17, Cov, P25),
+ nth0(18, Cov, P30), nth0(19, Cov, P31), nth0(20, Cov, P32), nth0(21, Cov, P33), nth0(22, Cov, P34), nth0(23, Cov, P35),
+ nth0(24, Cov, P40), nth0(25, Cov, P41), nth0(26, Cov, P42), nth0(27, Cov, P43), nth0(28, Cov, P44), nth0(29, Cov, P45),
+ nth0(30, Cov, P50), nth0(31, Cov, P51), nth0(32, Cov, P52), nth0(33, Cov, P53), nth0(34, Cov, P54), nth0(35, Cov, P55),
+
+ term_to_atom(covMat3D-(P00)-(P01)-(P02)-(P03)-(P04)-(P05)-(P10)-(P11)-(P12)-(P13)-(P14)-(P15)-(P20)-(P21)-(P22)-(P23)-(P24)-(P25)-(P30)-(P31)-(P32)-(P33)-(P34)-(P35)-(P40)-(P41)-(P42)-(P43)-(P44)-(P45)-(P50)-(P51)-(P52)-(P53)-(P54)-(P55), Covariance).
+
Added: stacks/knowrob/comp_ros/prolog/init.pl.in
===================================================================
--- stacks/knowrob/comp_ros/prolog/init.pl.in (rev 0)
+++ stacks/knowrob/comp_ros/prolog/init.pl.in 2010-04-24 23:07:40 UTC (rev 466)
@@ -0,0 +1,33 @@
+%%
+%% Copyright (C) 2010 by Moritz Tenorth
+%%
+%% This program is free software; you can redistribute it and/or modify
+%% it under the terms of the GNU General Public License as published by
+%% the Free Software Foundation; either version 3 of the License, or
+%% (at your option) any later version.
+%%
+%% This program is distributed in the hope that it will be useful,
+%% but WITHOUT ANY WARRANTY; without even the implied warranty of
+%% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+%% GNU General Public License for more details.
+%%
+%% You should have received a copy of the GNU General Public License
+%% along with this program. If not, see <http://www.gnu.org/licenses/>.
+%%
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% dependencies
+
+:- register_ros_package(ias_knowledge_base).
+:- register_ros_package(comp_ros).
+
+:- use_module(library('comp_ros')).
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% parse OWL files, register name spaces
+
+:- owl_parser:owl_parse('@LOCAL_PACKAGE_PATH@/owl/comp_ros.owl', false, false, true).
+:- rdf_db:rdf_register_ns(comp_ros, 'http://ias.cs.tum.edu/kb/comp_ros.owl#', [keep(true)]).
+
+
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|