Package edu.tufts.hrilab.spot.consultant

Class SpotLocationConsultant

java.lang.Object

edu.tufts.hrilab.consultant.Consultant<SpotLocationReference>

edu.tufts.hrilab.spot.consultant.SpotLocationConsultant

All Implemented Interfaces:

ConsultantInterface

public class SpotLocationConsultant
extends Consultant<SpotLocationReference>

Field Summary

Fields inherited from class edu.tufts.hrilab.consultant.Consultant

defaultProperties, kbName, log, propertiesHandled, refConstructor, references, refNumber

Constructor Summary

Constructors

Constructor	Description
SpotLocationConsultant(Class<SpotLocationReference> refClass, String kbName, List<String> properties)
SpotLocationConsultant(String kbName)

Method Summary

Modifier and Type	Method	Description
void	createReferenceWithWaypointId(String waypointId, Symbol property)
Symbol	getClosestLocationToPoint(org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point2d,javax.vecmath.Quat4d> pose)
SpotLocationReference	getRefWithId(Symbol refId)
void	loadReferencesFromFile(String filename)	Load pre-defined references from file via JSON.
protected <U> U	localConvertToType(Symbol refId, Class<U> type)	The local implementation of convertToType.
protected <U> U	localConvertToType(Symbol refId, Class<U> type, List<? extends Term> constraints)	The local implementation of convertToType.
boolean	writeReferencesToFile(String absolutePath)

Methods inherited from class edu.tufts.hrilab.consultant.Consultant

addPropertiesHandled, addReference, assertProperties, assertProperties, convertToType, convertToType, createReference, createReferences, getActivatedEntities, getAllReferences, getAssertedProperties, getInitialDomain, getKBName, getNextReferenceId, getPropertiesHandled, getReference, getReferenceSummaries, getReferencesWithAllProperties, getReferencesWithAnyProperties, notifyNewPropertySubscribers, process, registerForNewPropertyNotification, removeReference, retractProperties, stripQuotesFromMorpheme, unregisterForNewPropertyNotification

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

SpotLocationConsultant

public SpotLocationConsultant(String kbName)

SpotLocationConsultant

public SpotLocationConsultant(Class<SpotLocationReference> refClass,
 String kbName,
 List<String> properties)

Method Details

localConvertToType

protected <U> U localConvertToType(Symbol refId,
 Class<U> type)

Description copied from class: Consultant

The local implementation of convertToType.

Specified by:

localConvertToType in class Consultant<SpotLocationReference>

Type Parameters:

U - target Java class template type (any)

Parameters:

refId - reference resolution ID (e.g.object_3)

type - target Java class type

Returns:

instance of specified target Java class

localConvertToType

protected <U> U localConvertToType(Symbol refId,
 Class<U> type,
 List<? extends Term> constraints)

Description copied from class: Consultant

The local implementation of convertToType.

Specified by:

localConvertToType in class Consultant<SpotLocationReference>

Type Parameters:

U - target Java class template type (any)

Parameters:

refId - reference resolution ID (e.g.object_3)

type - target Java class type

constraints - first-order-logic predicate constraints

Returns:

instance of specified target Java class

getRefWithId

public SpotLocationReference getRefWithId(Symbol refId)

getClosestLocationToPoint

public Symbol getClosestLocationToPoint(org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point2d,javax.vecmath.Quat4d> pose)

loadReferencesFromFile

public void loadReferencesFromFile(String filename)

Load pre-defined references from file via JSON.

Parameters:

filename -

writeReferencesToFile

public boolean writeReferencesToFile(String absolutePath)

createReferenceWithWaypointId

public void createReferenceWithWaypointId(String waypointId,
 Symbol property)