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--- doc:plan_visualization [2013/04/22 08:46] – created admin
+++ doc:plan_visualization [2014/01/17 09:30] (current) – removed gkazhoya
@@ Line 1: / Line 1: @@
-====== Visualization of task descriptions ======
-PlanVis is used to visualize planned actions of a robot. This visualization includes support of expanding actions and showing subactions. PlanVis is part of the mod_vis package.
-{{ :planvis_serveadrink.png?900 |}}
-===== Usage =====
-Start mod_vis
-<code>
- rosrun rosprolog rosprolog mod_vis
-</code>
-Load knowrob actions
-<code>
- register_ros_package(knowrob_actions)
-</code>
-Parse owl file containing the plan
-<code>
- owl_parse('/path/to/plan.owl', false, false, true).
-</code>
-Open PlanVis applet
-<code>
- planvis_create(Pv).
-</code>
-Load a plan and all it subactions. The main action is identified by the first parameter
-<code>
-  planvis_load('http://www.roboearth.org/kb/serve_drink.owl#ServeADrink',$Pv).
-</code>
-You can highlight an action with the following command. This action must be a child action of the current loaded action.
-<code>
- planvis_highlight('http://ias.cs.tum.edu/kb/knowrob.owl#TakingSomething',$Pv).
-</code>
-Clear the highlight is done by
-<code>
- planvis_clear_highlight($Pv).
-</code>