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| doc:reasoning_using_computables [2014/11/26 20:29] – [Qualitative spatial relations] admin | doc:reasoning_using_computables [2016/04/27 13:53] – [Qualitative spatial relations] daniel86 |
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| In this example, we are loading the //ias_semantic_map// OWL file from the //knowrob_map_data// package that provides a set of object instances, namely pieces of furniture in a kitchen. It automatically loads the package //comp_spatial// that provides the computables for qualitative spatial relations. The map only consists of typed object instances at different locations. We can query for all objects that are on top of another, or for all objects that are on top of a specific object using the following queries: | In this example, we are loading the //ias_semantic_map// OWL file from the //knowrob_map_data// package that provides a set of object instances, namely pieces of furniture in a kitchen. It automatically loads the package //comp_spatial// that provides the computables for qualitative spatial relations. The map only consists of typed object instances at different locations. We can query for all objects that are on top of another, or for all objects that are on top of a specific object using the following queries: |
| <code> | <code> |
| | rdf_db:rdf_register_ns(ias_map, 'http://knowrob.org/kb/ias_semantic_map.owl#', [keep(true)]). |
| rdf_triple(knowrob:'on-Physical', Top, Bottom). | rdf_triple(knowrob:'on-Physical', Top, Bottom). |
| rdf_triple(knowrob:'on-Physical', Top, ias_map:cupboard7). | rdf_triple(knowrob:'on-Physical', Top, ias_map:cupboard7). |
| </code> | </code> |
| The computation is performed by the predicate //on_Physical// that is defined in the file //comp_spatial.pl// in the package //comp_spatial//. | The computation is performed by the predicate //on_Physical// that is defined in the file //comp_spatial.pl// in the package //comp_spatial//. |
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| ===== Reading information from external sources ===== | |
| Examples for loading information from external sources, like other ROS nodes, are given in the following packages: | |
| * comp_cop for reading information from the CoP perception system | |
| * tf_prolog reads coordinate transformations from tf | |
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| Depending on the kind of information to be included, these interfaces need to be adapted, but the general principle should stay the same. | |
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