====== Visualization of task descriptions ======

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. **This package has not been updated to the catkin-based version of KnowRob.**

{{ :planvis_serveadrink.png?900 |}}


===== Usage =====

Start mod_vis
<code>
 rosrun rosprolog rosprolog mod_vis
</code>

Load knowrob actions
<code>
 register_ros_package(knowrob_actions)
</code>

Parse owl file containing the plan
<code>
 owl_parse('/path/to/plan.owl', false, false, true).
</code>

Open PlanVis applet
<code>
 planvis_create(Pv).
</code>

Load a plan and all it subactions. The main action is identified by the first parameter
<code>
  planvis_load('http://www.roboearth.org/kb/serve_drink.owl#ServeADrink',$Pv).
</code>

You can highlight an action with the following command. This action must be a child action of the current loaded action.
<code>
 planvis_highlight('http://ias.cs.tum.edu/kb/knowrob.owl#TakingSomething',$Pv).
</code>

Clear the highlight is done by
<code>
 planvis_clear_highlight($Pv).
</code>