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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.
= Quick use = This should be a quick start guide for using PlanVis in knowrob. Please refer to the main knowrob tutorial (_KnowRob_basics) for getting started.
Initializing package
* Start mod_vis rosrun rosprolog rosprolog mod_vis * Load knowrob actions register_ros_package(knowrob_actions) * Parse owl file containing the plan owl_parse('/path/to/plan.owl', false, false, true). * Open PlanVis applet planvis_create(Pv).
Load a plan into PlanVis
* Load a plan and all it subactions. The main action is identified by the first parameter
planvis_load('http://www.roboearth.org/kb/serve_drink.owl#ServeADrink',$Pv).
Highlight an action
* You can highlight an action with the following command. This action must be a child action of the current loaded action. planvis_highlight('http://ias.cs.tum.edu/kb/knowrob.owl#TakingSomething',$Pv).
* Clear the highlight is done by planvis_clear_highlight($Pv).
= Screenshot of loaded action = 700px|alt=PlanVis ServeADrink|ServeADrink example
