def __init__(self, urdf_path, sem_path, name_suffix=None):
self.nsmap = {
"xsd": "http://www.w3.org/2001/XMLSchema#",
"owl": "http://www.w3.org/2002/07/owl#",
"xsd": "http://www.w3.org/2001/XMLSchema#",
"srdl2": "http://knowrob.org/kb/srdl2.owl#",
"owl2xml": "http://www.w3.org/2006/12/owl2-xml#",
"knowrob": "http://knowrob.org/kb/knowrob.owl#",
"rdfs": "http://www.w3.org/2000/01/rdf-schema#",
"rdf": "http://www.w3.org/1999/02/22-rdf-syntax-ns#",
"srdl2-comp": "http://knowrob.org/kb/srdl2-comp.owl#",
"srdl2-cap": "http://knowrob.org/kb/srdl2-cap.owl#",
"qudt-unit": "http://qudt.org/vocab/unit#",
}
self.imports = [
"package://srdl/owl/srdl2-comp.owl",
"package://knowrob_common/owl/knowrob.owl",
]
self.id_gen = UniqueStringGenerator()
self.urdf = URDF.from_xml_file(urdf_path)
self.urdf.check_valid()
basename = os.path.basename(sem_path)
namespace, _ = os.path.splitext(basename)
self.map_ns = namespace
if name_suffix is None:
self.map_name = self.urdf.name + "_" + self.id_gen.gen()
else:
self.map_name = self.urdf.name + "_" + name_suffix
self.map_uri_base = "http://knowrob.org/kb/%s" % basename
self.map_uri = self.map_uri_base + "#"
self.nsmap[self.map_ns] = self.map_uri
self.transformations = {}
def __init__(self, root_node, nsmap=None):
self.root = root_node
self.strgen = UniqueStringGenerator(8)
self.nsmap = {
None: "http://knowrob.org/kb/cram_log.owl#",
"owl": "http://www.w3.org/2002/07/owl#",
"xsd": "http://www.w3.org/2001/XMLSchema#",
"knowrob": "http://knowrob.org/kb/knowrob.owl#",
"rdfs": "http://www.w3.org/2000/01/rdf-schema#",
"rdf": "http://www.w3.org/1999/02/22-rdf-syntax-ns#",
"log": "http://knowrob.org/kb/cram_log.owl#",
}
if nsmap is not None:
self.nsmap.update(nsmap)
self.rdf = lxml.builder.ElementMaker(namespace=self.nsmap["rdf"],
nsmap=self.nsmap)
self.owl = lxml.builder.ElementMaker(namespace=self.nsmap["owl"],
nsmap=self.nsmap)
self.knowrob = lxml.builder.ElementMaker(
namespace=self.nsmap["knowrob"], nsmap=self.nsmap)
self.doc = self.rdf.RDF()
self.doc.base = "http://knowrob.org/kb/cram_log.owl"
self.timepoints = []
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Author: Yuki Furuta <*****@*****.**>
from itertools import chain
import pymongo
from utils import UniqueStringGenerator
NameGen = UniqueStringGenerator()
class Node(object):
def __init__(self, ntype, prop=None, name=None):
self.parent = None
self.children = []
self.ntype = ntype
self._name = name
self.unique_name = None
self.properties = prop or {}
@property
def name(self):
if self._name is None:
self._name = self.ntype + "_" + NameGen.gen()
return self._name
def add_subnode(self, n):
self.children.append(n)
n.parent = self
def add_prop(self, k, v):
