ArmorCluedo - 003 - Reasoning Workflow

In this example I'm going to show how the combination of the two classes ArmorTools and ArmorCluedo structure the reasoning process, which is at the base of how RCL works.

Warning

this code was written only for your understanding. Probably it won't compile.

 
 
#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;
}

- 003 - Reasoning Workflow