Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
Last revisionBoth sides next revision
planvis [2013/02/04 11:58] – [Visualization of task descriptions] tenorthplanvis [2013/04/22 08:46] – admin
Line 1: Line 1:
-====== Visualization of task descriptions ====== +#REDIRECT doc:plan_visualization
- +
-PlanVis is used to visualize planned actions of a robot. This visualization includes support of expanding actions and showing subactions. PlanVis is part of the mod_vis package. +
- +
-{{ :planvis_serveadrink.png?900 |}} +
- +
- +
-===== Usage ===== +
- +
-Start mod_vis +
-<code> +
- rosrun rosprolog rosprolog mod_vis +
-</code> +
- +
-Load knowrob actions +
-<code> +
- register_ros_package(knowrob_actions) +
-</code> +
- +
-Parse owl file containing the plan +
-<code> +
- owl_parse('/path/to/plan.owl', false, false, true). +
-</code> +
- +
-Open PlanVis applet +
-<code> +
- planvis_create(Pv). +
-</code> +
- +
-Load a plan and all it subactions. The main action is identified by the first parameter +
-<code> +
-  planvis_load('http://www.roboearth.org/kb/serve_drink.owl#ServeADrink',$Pv). +
-</code> +
- +
-You can highlight an action with the following command. This action must be a child action of the current loaded action. +
-<code> +
- planvis_highlight('http://ias.cs.tum.edu/kb/knowrob.owl#TakingSomething',$Pv). +
-</code> +
- +
-Clear the highlight is done by +
-<code> +
- planvis_clear_highlight($Pv). +
-</code> +
- +