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— | knowrob_taxonomy [2012/12/01 13:58] – [SpatialThing] tenorth | ||
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+ | Base classes: | ||
+ | ====== Overview of the KnowRob upper ontology ====== | ||
+ | |||
+ | {{ : | ||
+ | |||
+ | ==== SpatialThing | ||
+ | |||
+ | * **Map** of an environment | ||
+ | * **Point**, a zero-dimensional thing with a location | ||
+ | * **Place** a relevant place in the environment | ||
+ | * **Trajectory**, | ||
+ | * **SurfaceRegion**, | ||
+ | * **EnduringThing-Localized**, | ||
+ | * **EmbodiedAgent** | ||
+ | * **PhysicalDevice**, | ||
+ | * **Connection-Physical** for any kind of joint | ||
+ | * **HumanScaleObject** | ||
+ | * **ConstructionArtifact** for walls, ceiling, floor, doors, etc | ||
+ | * **FurniturePiece** for tables, cupboards, chairs, etc | ||
+ | * **AnimalBodyPart**: | ||
+ | * **FoodOrDrink**: | ||
+ | |||
+ | ==== TemporalThing | ||
+ | |||
+ | * **TimeInterval** (e.g. time points, date, time of the day) | ||
+ | * **Situation**, | ||
+ | * **Event** | ||
+ | * **SensoryEvent**, | ||
+ | * **StateChangeEvent**, | ||
+ | * **Action** -> PurposefulAction | ||
+ | * **Perceiving** (similar to SensoryEvent, | ||
+ | * **VoluntaryBodyMovement**, | ||
+ | * **ActionOnObject** (any kind of object interaction) | ||
+ | * **ControllingSomething**: | ||
+ | * **HoldingAnObject** (different grasps, no movement involved) | ||
+ | * **Movement-Translation**: | ||
+ | * **RemovingSomething**: | ||
+ | * **OpeningSomething**: | ||
+ | * **ClosingSomething**: | ||
+ | |||
+ | ==== MathematicalThing | ||
+ | * **Units** | ||
+ | * **Mathematical objects** like coordinate systems, matrices, vectors etc |