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planvis [2013/02/12 18:41]
127.0.0.1 external edit
planvis [2014/06/05 13:38] (current)
Line 1: Line 1:
-====== Visualization of task descriptions ====== +#REDIRECT doc:plan_visualization
- +
-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. +
- +
-{{ :​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>​ +
- +