Package edu.tufts.hrilab.vision.stm

Class MemoryObjectUtil

java.lang.Object

edu.tufts.hrilab.vision.stm.MemoryObjectUtil

public class MemoryObjectUtil
extends Object

Constructor Summary

Constructors

Constructor	Description
MemoryObjectUtil()

Method Summary

Modifier and Type	Method	Description
static boolean	applyDefinition(MemoryObject mo, Term name, List<Term> descriptors)
static double	getAngleFromAngle(Grasp grasp, javax.vecmath.Vector3d angleVector)	Helper method to get the angle (in radians) between the grasp orientation and the passed in vector..
static Set<Term>	getBoundSceneGraphDescriptors(MemoryObject mo)	Helper method to get an entire bound scene graph description given the root of the scene graph.
static List<Float>	getConfidence(MemoryObject rootMO, List<? extends Term> constraints, Map<Variable,Symbol> bindings)	Get the highest confidence value for each term in list along with the bindings (variable to memory object identifier (e.g., object26)) for the returned confidence values.
static boolean	getMemoryObjectBindings(MemoryObject mo, Term constraints, List<Map<Variable,MemoryObject>> bindings)	Convenience method to pass in a single constraint.
static boolean	getMemoryObjectBindings(MemoryObject mo, List<? extends Term> constraints, List<Map<Variable,MemoryObject>> bindings)	Get list of MemoryObject bindings from the scene graph that meet the constraints.
static boolean	getMemoryObjectIdentifierBindings(MemoryObject mo, Term constraints, List<Map<Variable,Symbol>> bindings)	Convenience method to pass in a single constraint.
static boolean	getMemoryObjectIdentifierBindings(MemoryObject mo, List<? extends Term> constraints, List<Map<Variable,Symbol>> bindings)	Get list of MemoryObject identifier bindings (e.g., object31) from the scene graph that meet the constraints.
static Set<Term>	getSceneGraphDescriptors(MemoryObject mo)	Helper method to get an entire scene graph description (i.e., unbound descriptors) given the root of the scene graph.

Methods inherited from class java.lang.Object

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

Constructor Details

MemoryObjectUtil

public MemoryObjectUtil()

Method Details

getAngleFromAngle

public static double getAngleFromAngle(Grasp grasp,
 javax.vecmath.Vector3d angleVector)

Helper method to get the angle (in radians) between the grasp orientation and the passed in vector..

Parameters:

grasp -

Returns:

getConfidence

public static List<Float> getConfidence(MemoryObject rootMO,
 List<? extends Term> constraints,
 Map<Variable,Symbol> bindings)

Get the highest confidence value for each term in list along with the bindings (variable to memory object identifier (e.g., object26)) for the returned confidence values.

Parameters:

rootMO - root of the scene graph to be searched

constraints - to be satisfied

bindings - return bindings for highest confidence match

Returns:

list of confidence values, one for each constraint Term

getMemoryObjectBindings

public static boolean getMemoryObjectBindings(MemoryObject mo,
 List<? extends Term> constraints,
 List<Map<Variable,MemoryObject>> bindings)

Get list of MemoryObject bindings from the scene graph that meet the constraints.

Parameters:

mo -

constraints -

bindings -

Returns:

if bindings were found for all free variables

getMemoryObjectIdentifierBindings

public static boolean getMemoryObjectIdentifierBindings(MemoryObject mo,
 List<? extends Term> constraints,
 List<Map<Variable,Symbol>> bindings)

Get list of MemoryObject identifier bindings (e.g., object31) from the scene graph that meet the constraints.

Parameters:

mo -

constraints -

bindings -

Returns:

if bindings were found for all free variables

getMemoryObjectBindings

public static boolean getMemoryObjectBindings(MemoryObject mo,
 Term constraints,
 List<Map<Variable,MemoryObject>> bindings)

Convenience method to pass in a single constraint.

Parameters:

mo -

constraints -

bindings -

Returns:

getMemoryObjectIdentifierBindings

public static boolean getMemoryObjectIdentifierBindings(MemoryObject mo,
 Term constraints,
 List<Map<Variable,Symbol>> bindings)

Convenience method to pass in a single constraint.

Parameters:

mo -

constraints -

bindings -

Returns:

if bindings were found for all free variables

applyDefinition

public static boolean applyDefinition(MemoryObject mo,
 Term name,
 List<Term> descriptors)

getBoundSceneGraphDescriptors

public static Set<Term> getBoundSceneGraphDescriptors(MemoryObject mo)

Helper method to get an entire bound scene graph description given the root of the scene graph.

Parameters:

mo -

Returns:

getSceneGraphDescriptors

public static Set<Term> getSceneGraphDescriptors(MemoryObject mo)

Helper method to get an entire scene graph description (i.e., unbound descriptors) given the root of the scene graph.

Parameters:

mo -