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Update the file to make it compatible with current knowrob version #1

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Update the file to make it compatible with current knowrob version #1

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31 changes: 16 additions & 15 deletions include/rs_refills/knowrob_queries.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,9 +23,9 @@ inline bool get_facing_dimensions(const std::string &facing_id, Facing &facing)
std::stringstream plQuery;
PrologClient pl;
plQuery << "shelf_facing_product_type('" << facing.facingId << "', P),"
<< "owl_has(P, 'http://www.w3.org/2000/01/rdf-schema#subClassOf',Z),"
<< "owl_restriction(Z,restriction(shop:'articleNumberOfProduct',has_value(AN))),"
<< "rdf_has(AN, shop:dan, literal(type(_,DAN))),"
<< "subclass_of(P, Z),"
<< "has_description(Z,value(shop:'articleNumberOfProduct', AN)),"
<< "triple(AN, shop:dan, DAN),"
<< "comp_facingWidth('" << facing.facingId << "', W),"
<< "comp_facingHeight('" << facing.facingId << "',H).";
outInfo("Asking query: " << plQuery.str());
Expand Down Expand Up @@ -53,12 +53,12 @@ inline bool get_product_dim_for_facing(Facing &facing)

std::stringstream plQuery;
PrologClient pl;
plQuery<< "owl_has('"<<facing.productId<<"', 'http://www.w3.org/2000/01/rdf-schema#subClassOf',Zd),"
<< "owl_restriction(Zd,restriction(shop:'depthOfProduct',has_value(literal(type(_,D_XSD))))),atom_number(D_XSD,D),"
<< "owl_has('"<<facing.productId<<"', 'http://www.w3.org/2000/01/rdf-schema#subClassOf',Zw),"
<< "owl_restriction(Zw,restriction(shop:'widthOfProduct',has_value(literal(type(_,W_XSD))))),atom_number(W_XSD,W),"
<< "owl_has('"<<facing.productId<<"', 'http://www.w3.org/2000/01/rdf-schema#subClassOf',Zh),"
<< "owl_restriction(Zh,restriction(shop:'heightOfProduct',has_value(literal(type(_,H_XSD))))),atom_number(H_XSD,H).";
plQuery << "subclass_of('" << facing.productId << "', Zd),"
<< "has_description(Zd,value(shop:'depthOfProduct', D)),"
<< "subclass_of('" << facing.productId << "', Zw),"
<< "has_description(Zw,value(shop:'widthOfProduct', W)),"
<< "subclass_of('" << facing.productId << "', Zh),"
<< "has_description(Zh,value(shop:'heightOfProduct', H)).";

outInfo("Asking query: " << plQuery.str());
PrologQuery bdgs = pl.query(plQuery.str());
Expand All @@ -83,9 +83,9 @@ inline bool get_separator_frame_ids_for_facing(const std::string &facing_id, std
std::stringstream plQuery;
PrologClient pl;

plQuery << "rdf_has('" << facing_id << "', shop:leftSeparator, L), object_feature(L, LF, dmshop:'DMShelfPerceptionFeature'),object_frame_name(LF,LFrameName),"
<< "rdf_has('" << facing_id << "', shop:rightSeparator,R), object_feature(R, RF, dmshop:'DMShelfPerceptionFeature'),object_frame_name(RF,RFrameName).";
plQuery << "triple('" << facing_id << "', shop:leftSeparator, L), object_feature_type(L, LF, dmshop:'DMShelfPerceptionFeature'),holds(LF,knowrob:frameName, LFrameName),"
<< "triple('" << facing_id << "', shop:rightSeparator,R), object_feature_type(R, RF, dmshop:'DMShelfPerceptionFeature'),holds(RF, knowrob:frameName, RFrameName).";

outInfo("Asking query: " << plQuery.str());
PrologQuery bdgs = pl.query(plQuery.str());
if (bdgs.begin() == bdgs.end())
Expand All @@ -106,8 +106,9 @@ inline bool get_mounting_bar_frame_id_for_facing(const std::string &facing_id, s
{
std::stringstream plQuery;
PrologClient pl;
plQuery << "rdf_has('" << facing_id
<< "', shop:mountingBarOfFacing, M), object_perception_affordance_frame_name(M,MFrameName).";
plQuery << "triple('" << facing_id
<< "', shop:mountingBarOfFacing, M), triple(Obj, knowrob:hasAffordance, Affordance), instance_of(Affordance,"
<< "knowrob:PerceptionAffordance), holds(Affordance, knowrob:frameName, AffFrameName).";
outInfo("Asking query: " << plQuery.str());
PrologQuery bdgs = pl.query(plQuery.str());
if (bdgs.begin() == bdgs.end())
Expand All @@ -122,4 +123,4 @@ inline bool get_mounting_bar_frame_id_for_facing(const std::string &facing_id, s
}
return true;

}
}