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RCL - RoboCLuedo
v1.0
Francesco Ganci - S4143910 - Experimental Robotics Lab - Assignment 1
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RCL - RoboCLuedo
v1.0
Francesco Ganci - S4143910 - Experimental Robotics Lab - Assignment 1
|
additional utilities for aRMOR More...
#include <armor_cluedo.h>
Inheritance diagram for ArmorCluedo: Collaboration diagram for ArmorCluedo:Public Member Functions | |
| ArmorCluedo (bool debugmode=ARMOR_DEFAULT_DEBUGMODE) | |
| class constructor of ArmorCluedo More... | |
| ~ArmorCluedo () | |
| class destructor More... | |
| bool | Init (std::string ontologyPath) |
| initizalize the interface More... | |
| bool | AddIndiv (std::string indivname, std::string classname, bool makeDisjoint=true) |
| add an individual to the ontology More... | |
| std::vector< std::string > | GetClassOfIndiv (std::string indivname, bool deep) |
| get the class of a given individual More... | |
| std::vector< std::string > | GetIndivOfClass (std::string classname) |
| find the individuals belonging to a class More... | |
| bool | ExistsIndiv (std::string indivname) |
| check if an individual exists More... | |
| bool | SetObjectProperty (std::string prop, std::string Aelem, std::string Belem) |
| set a property true More... | |
| std::vector< std::string > | GetValuedOfIndiv (std::string prop, std::string indivname) |
| get the values of a property related to a gven individual More... | |
| std::vector< std::string > | FindCompleteHypotheses () |
| find all the complete hypotheses More... | |
| std::vector< std::string > | FindInconsistentHypotheses () |
| find all the inconsistent hypotheses More... | |
| bool | RemoveHypothesis (std::string hypTag) |
| discard one hypothesis More... | |
| std::string | FilterValue (std::string raw) |
| rewrite a string like '<uri#value>' into 'value' More... | |
| std::vector< std::string > | FilterVector (std::vector< std::string > &itemlist) |
| filter all the strings inside the array More... | |
| Public Member Functions inherited from ArmorTools | |
| ArmorTools (std::string client=ARMOR_DEFAULT_CLIENT, std::string reference=ARMOR_DEFAULT_REFERENCE, bool dbmode=false) | |
| Class Constructor, 3 arguments. More... | |
| ArmorTools (bool dbmode) | |
| Class Constructor, only one argument. More... | |
| ~ArmorTools () | |
| class destructor (empty) More... | |
| armor_msgs::ArmorDirective | GetRequest (std::string command, std::string first_spec="", std::string second_spec="", std::string arg1="", std::string arg2="", std::string arg3="", std::string arg4="", std::string arg5="") |
| quick generation of an aRMOR request More... | |
| bool | CallArmor (armor_msgs::ArmorDirective &data) |
| send a command to the aRMOR service. More... | |
| bool | LoadOntology (std::string path, std::string uri=ARMOR_DEFAULT_URI, bool manipulationFlag=true, std::string reasoner=ARMOR_DEFAULT_REASONER, bool buffered_reasoner=true) |
| load the ontology from file. More... | |
| bool | Connect (float timeout=ARMOR_DEFAULT_TIMEOUT) |
| open a connection with the aRMOR service. More... | |
| bool | ConnectAndLoad (std::string path, std::string uri=ARMOR_DEFAULT_URI, bool manipulationFlag=true, std::string reasoner=ARMOR_DEFAULT_REASONER, bool buffered_reasoner=true) |
| connect to the server and load the ontology from file. More... | |
| bool | SaveOntology (std::string path) |
| save the ontology on file More... | |
| bool | UpdateOntology () |
| send the command REASON More... | |
| void | PrintRequest (armor_msgs::ArmorDirective &d) |
| print a request to the screen. More... | |
| void | PrintResponse (armor_msgs::ArmorDirective &d) |
| print the response to the screen. More... | |
| void | SwitchDebugMode () |
| toggle the debug mode More... | |
| int | GetLastErrorCode () |
| err code referred to the last call More... | |
| std::string | GetLastErrorDescription () |
| last err description More... | |
| bool | Success () |
| check the 'success' flag referred to the last aRMOR call More... | |
| bool | LoadedOntology () |
| check if the ontology was loaded or not More... | |
| bool | TestInterface () |
| check the status of the interface More... | |
| bool | SendCommand (std::string command, std::string first_spec="", std::string second_spec="", std::string arg1="", std::string arg2="", std::string arg3="", std::string arg4="", std::string arg5="", bool printRequest=false) |
| fill in a command and send it to aRMOR More... | |
| armor_msgs::ArmorDirectiveRes & | GetLastRes () |
| get a reference to the last response More... | |
| armor_msgs::ArmorDirectiveReq & | GetLastReq () |
| get a reference to the last request More... | |
| void | PrintLastRes () |
| print the last response More... | |
| void | PrintLastReq () |
| print the last request More... | |
Additional Inherited Members | |
| Protected Attributes inherited from ArmorTools | |
| bool | DebugMode = false |
| debug mode enabled or not More... | |
additional utilities for aRMOR
Whereas the class ArmorTools provides the low-level tools for communicating with aRMOR, the class ArmorCluedo implements some specific methods for this project, and sme workaround due to some bugs in the actual implementation of aRMOR, in particular for the commands "REMOVE" and "DISJOINT".
The class ArmorCluedo provides methods for doing these operations:
In addition, the class implements some useful methods for managing the hypotheses:
Definition at line 56 of file armor_cluedo.h.
1.8.17 
