example_armor_cluedo_3.cpp

Go to the documentation of this file.

 
 
#include "ros/ros.h"
#include "armor_tools/armor_tools.h"
#include "armor_tools_armor_cluedo.h"
#include "armor_msgs/ArmorDirective.h"
#include "armor_msgs/ArmorDirectiveReq.h"
#include "armor_msgs/ArmorDirectiveRes.h"
 
#include <iostream>
#include <string>
 
int main( int argc, char* argv[] )
{
    ros::init( argc, argv, "example_armor_cluedo_3" );
    ros::NodeHandle nh;
    
    
    
    
    // === before starting (see the previous examples)
    
    ArmorCluedo armor;
    armor.Init( "/root/ontologies/my_super_ontology.owl" );
    armor.AddIndiv( "John", "PERSON" );
    armor.AddIndiv( "Pippo", "PERSON" );
    armor.AddIndiv( "Broccoli", "WEAPON" );
    armor.AddIndiv( "AK-47", "WEAPON" );
    armor.AddIndiv( "Stadium", "PLACE" );
    armor.AddIndiv( "Bathroom", "PLACE" );
    armor.AddIndiv( "SmartHypothesis", "HYPOTHESIS" );
    armor.UpdateOntology( );
    armor.SetObjectProperty( "where", "Smarthypothesis", "Stadium" );
    armor.SetObjectProperty( "who", "Smarthypothesis", "John" );
    armor.SetObjectProperty( "what", "Smarthypothesis", "Broccoli" );
    armor.UpdateOntology( );
    
    
    
    
    // === QUERYING HYPOTHESES
    
    // find the tags of the complete hypotheses
    //    in this example, the tag 'SmartHypothesis' is complete
    std::vector<std::string> complete_hypotheses = FindCompleteHypotheses( );
    
    
    
    
    // === INCONSISTENT HYPOTHESES
    
    // you can also find the inconsistent hypotheses
    //    ATTENTION! In this implementation there's a difference between
    //       "discarded" hypotheses and "inconsistent" hypotheses, due to
    //       some issues inside aRMOR.
    //    in any case, using FindCompleteHypotheses() is recommended. 
    std::vector<std::string> inconsistent_hypotheses = FindCompleteHypotheses( );
    
    // let's make 'SmartHypothesis' inconsistent
    armor.SetObjectProperty( "where", "SmatHypothesis", "Bathroom" );
    armor.UpdateOntology( );
    // now the hypothesis doesn't appear when calling FindCompleteHypotheses( )
    
    
    
    
    // === DISCARD HYPOTHESES
    
    // the implementation of ArmorCluedo contains a workaroud, due to an 
    //    issue in the implementation of aRMOR in "REMOVE" commands. 
    // let's suppose that there's another hypothesis, completed, but
    //    discarded due to a negative answer by the oracle
    
    armor.AddIndiv( "AnotherSmartHypothesis", "HYPOTHESIS" );
    armor.SetObjectProperty( "where", "AnotherSmarthypothesis", "Stadium" );
    armor.SetObjectProperty( "who", "AnotherSmarthypothesis", "John" );
    armor.SetObjectProperty( "what", "AnotherSmarthypothesis", "Broccoli" );
    armor.UpdateOntology( );
    
    // let's discard it with the function
    armor.RemoveHypothesis( "AnotherSmarthypothesis" );
    // THE HYPOTHESIS IS STILL PRESENT IN THE ONTOLOGY! 
    //    but now it is tracked as deleted, so the FindCompleteHypotheses()
    //    won't return it later. 
    // you cannot de-discard hypotheses. 
    
    return 0;
}