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kaos.spatial
Class SpatialReasoner

java.lang.Object
  extended by kaos.spatial.SpatialReasoner
All Implemented Interfaces:
SpatialDatabase, SpatialQuery
public class SpatialReasoner
extends java.lang.Object
implements SpatialDatabase, SpatialQuery

This class implements interfaces:

See Also:
SpatialDatabase, SpatialQuery

Constructor Summary
SpatialReasoner()
          Default constructor
 
Method Summary
 java.util.Vector findObjectsInRelation(java.util.Vector relationNames, java.lang.String subjectObjectID, float maxDistance)
          This method returns a vector of the IDs of objects being in the specified relation to the subject object, but in the specified maximum distance.
 java.util.Vector findObjectsInRelationReferencedBy(java.util.Vector relationNames, java.lang.String subjectObjectID, java.lang.String referenceObjectID, float maxDistance)
          This method returns objects being in the specified relations to the subject object in regards to the referenced object, but in the specified maximum distance.
 java.util.Vector findSpatialRelationsBetween(java.lang.String subjectObjectID, java.lang.String relatedObjectID)
          This method returns spatial relations between two objects from the perspective of the first subject object.
 java.util.Vector findSpatialRelationsReferencedBy(java.lang.String subjectObjectID, java.net.URI relatedObjectID, java.lang.String referencedObjectID)
          This method returns spatial relations between two objects from the perspective of the first subject object in regards to the reference object.
 Location3D getObjectLocation(java.lang.String objectID)
          This method allows to obtain location of a known spatial object.
 java.util.Set getObjectOntologicalTypes(java.lang.String objectID)
          This method allows to obtain location of a known spatial object.
 Orientation3D getObjectOrientation(java.lang.String objectID)
          This method allows to obtain orientation of a known spatial object.
 Block3D getOccupiedSpace(java.lang.String objectID)
          This method allows to obtain aproximation of the occupied space of a known spatial object.
 void registerSpatialObject(java.lang.String objectID, java.util.Set objectOntologyType, Location3D objectLocation, Orientation3D objectOrientation, Block3D objectOccupedSpace)
          This method allows to add information about a new spatial object.
 boolean testSpatialRelationBetween(java.net.URI relationName, java.lang.String subjectObjectID, java.lang.String relatedObjectID)
          This method tests the given spatial relation between two objects from the perspective of the subject object.
 boolean testSpatialRelationsReferencedBy(java.net.URI relationName, java.lang.String relatedObjectID, java.lang.String subjectObjectID, java.lang.String referencedObjectID)
          This method test spatial relation between two objects from the perspective of the subject object in regards to the referenced object.
 void updateSpatialObject(java.lang.String objectID, Location3D objectLocation, Orientation3D objectOrientation, Block3D objectOccupedSpace)
          This method allows to modify information about a known spatial object.
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

SpatialReasoner

public SpatialReasoner()
Default constructor

Method Detail

findObjectsInRelation

public java.util.Vector findObjectsInRelation(java.util.Vector relationNames,
                                              java.lang.String subjectObjectID,
                                              float maxDistance)
                                       throws NotRegisteredException,
                                              UnknownConceptException
Description copied from interface: SpatialQuery
This method returns a vector of the IDs of objects being in the specified relation to the subject object, but in the specified maximum distance. For instance, it can return: All the object being on the left and up to the subject, but not further then 20 meters or All the object in the subject space (teh subject depicts some block of space). It is important to remember that these relations are calculated based on the orientation and location associated with the subject object.

Specified by:
findObjectsInRelation in interface SpatialQuery
Parameters:
relationNames - - URIs in the OWL ontology file(s) to the relation definition, for instance left, down, etc.
subjectObjectID - - id of the subject object
maxDistance - - meximum distance of the search
Returns:
Vector - containing ids of the found objects
Throws:
NotRegisteredException - when the subject is not registered in the spatial database
UnknownConceptException - when the spatial relation is unknown

findObjectsInRelationReferencedBy

public java.util.Vector findObjectsInRelationReferencedBy(java.util.Vector relationNames,
                                                          java.lang.String subjectObjectID,
                                                          java.lang.String referenceObjectID,
                                                          float maxDistance)
                                                   throws NotRegisteredException,
                                                          UnknownConceptException
Description copied from interface: SpatialQuery
This method returns objects being in the specified relations to the subject object in regards to the referenced object, but in the specified maximum distance. For instance, it can return: All the object beign further-left and less-up to the subject than the referenced object, but not further then 20 meters. It is important to remember that these relations are calculated based on the orientation and location associated with the subject object.

Specified by:
findObjectsInRelationReferencedBy in interface SpatialQuery
Parameters:
relationNames - - URIs in the OWL ontology file(s) to the relation definition, for instance further-left, less-down, etc.
subjectObjectID - - id of the subject object
maxDistance - - maximum distance of the search
Returns:
Vector - containing ids of the found objects
Throws:
NotRegisteredException - when the objects are not registered in spatial database
UnknownConceptException - when the spatial relation is unknown

findSpatialRelationsBetween

public java.util.Vector findSpatialRelationsBetween(java.lang.String subjectObjectID,
                                                    java.lang.String relatedObjectID)
                                             throws NotRegisteredException
Description copied from interface: SpatialQuery
This method returns spatial relations between two objects from the perspective of the first subject object. For instance it can find: That in relation to the subject the related object is on the right and down. It is important to remember that these relations are calculated based on the orientation and location associated with the subject object.

Specified by:
findSpatialRelationsBetween in interface SpatialQuery
Parameters:
subjectObjectID - - id of the subject object
relatedObjectID - - id of the related object
Returns:
Vector - containing found relations URI in the OWL ontology file(s) to the relations defitions (the object, for instance, can be in the up and on the left relations)
Throws:
NotRegisteredException - when the objects are not registered in spatial database

findSpatialRelationsReferencedBy

public java.util.Vector findSpatialRelationsReferencedBy(java.lang.String subjectObjectID,
                                                         java.net.URI relatedObjectID,
                                                         java.lang.String referencedObjectID)
                                                  throws NotRegisteredException
Description copied from interface: SpatialQuery
This method returns spatial relations between two objects from the perspective of the first subject object in regards to the reference object. For instance it can find: That in relation to the subject the related object is further-right and less-down than the referenced object or that it is further than the referenced object. It is important to remember that these relations are calculated based on the orientation and location associated with the subject object.

Specified by:
findSpatialRelationsReferencedBy in interface SpatialQuery
Parameters:
subjectObjectID - - id of the subject object
relatedObjectID - - id of the related object
referencedObjectID - - id of the reference object
Returns:
Vector - containing found relations URI in OWL ontology (the objects can be, for instance, further-up and less-left relations)
Throws:
NotRegisteredException - when the objects are not registered in the spatial database

testSpatialRelationBetween

public boolean testSpatialRelationBetween(java.net.URI relationName,
                                          java.lang.String subjectObjectID,
                                          java.lang.String relatedObjectID)
                                   throws NotRegisteredException,
                                          UnknownConceptException
Description copied from interface: SpatialQuery
This method tests the given spatial relation between two objects from the perspective of the subject object. For instance it can test If the related object is on the left to the subject. It is important to remember that these relations are calculated based on the orientation and location associated with the subject object.

Specified by:
testSpatialRelationBetween in interface SpatialQuery
Parameters:
relationName - - URI in the OWL ontology file to the relation definition to be tested, for instance: inside, on-the-left, etc.
subjectObjectID - - id of the subject object
relatedObjectID - - id of the related object
Returns:
true - if the objects are in the tested relation
Throws:
NotRegisteredException - when the objects are not registered in spatial database
UnknownConceptException - when the spatial relation is unknown

testSpatialRelationsReferencedBy

public boolean testSpatialRelationsReferencedBy(java.net.URI relationName,
                                                java.lang.String relatedObjectID,
                                                java.lang.String subjectObjectID,
                                                java.lang.String referencedObjectID)
                                         throws NotRegisteredException,
                                                UnknownConceptException
Description copied from interface: SpatialQuery
This method test spatial relation between two objects from the perspective of the subject object in regards to the referenced object. For instance it can test: If the related object is further-left to the subject than the referenced object, or if it is simple further than the referenced object. It is important to remember that these relations are calculated based on the orientation and location associated with the subject object.

Specified by:
testSpatialRelationsReferencedBy in interface SpatialQuery
Parameters:
relationName - - URI in the OWL ontology file to the relation definition to be tested, for instance further-left, less-down, etc.
relatedObjectID - - id of the related object
subjectObjectID - - id of the subject object
referencedObjectID - - id of the referenced object
Returns:
true - if the objects are in the tested relations
Throws:
NotRegisteredException - when the objects are not registered in spatial database
UnknownConceptException - when the spatial relation is unknown

getObjectOntologicalTypes

public java.util.Set getObjectOntologicalTypes(java.lang.String objectID)
                                        throws NotRegisteredException
Description copied from interface: SpatialDatabase
This method allows to obtain location of a known spatial object.

Specified by:
getObjectOntologicalTypes in interface SpatialDatabase
Parameters:
objectID - - id of the object
Returns:
Set - set of @see java.net.URI in the OWL ontology file to the definition of the object class
Throws:
NotRegisteredException - when the object is not registered in the spatial database

getObjectLocation

public Location3D getObjectLocation(java.lang.String objectID)
                             throws NotRegisteredException
Description copied from interface: SpatialDatabase
This method allows to obtain location of a known spatial object.

Specified by:
getObjectLocation in interface SpatialDatabase
Parameters:
objectID - - id of the object return @see Location3D - object containg location coordinates as xyz
Throws:
NotRegisteredException - when the object is not registered in the spatial database

getObjectOrientation

public Orientation3D getObjectOrientation(java.lang.String objectID)
                                   throws NotRegisteredException
Description copied from interface: SpatialDatabase
This method allows to obtain orientation of a known spatial object.

Specified by:
getObjectOrientation in interface SpatialDatabase
Parameters:
objectID - - id of the object return @see Orientation3D - object containg orientation as xyz radiuses
Throws:
NotRegisteredException - when the object is not registered in the spatial database

getOccupiedSpace

public Block3D getOccupiedSpace(java.lang.String objectID)
                         throws NotRegisteredException
Description copied from interface: SpatialDatabase
This method allows to obtain aproximation of the occupied space of a known spatial object.

Specified by:
getOccupiedSpace in interface SpatialDatabase
Parameters:
objectID - - id of the object return @see Block3D - object containg inforationas about an occupied space as a 3d block
Throws:
NotRegisteredException - when the object is not registered in the spatial database

registerSpatialObject

public void registerSpatialObject(java.lang.String objectID,
                                  java.util.Set objectOntologyType,
                                  Location3D objectLocation,
                                  Orientation3D objectOrientation,
                                  Block3D objectOccupedSpace)
                           throws AlreadyRegisteredException
Description copied from interface: SpatialDatabase
This method allows to add information about a new spatial object. The description about the object contains information about its: ontological type (e.g. Robot, Craft, Area. etc.), location as 3 coordinates (xyz), orientation as 3 radiuses (from xyz axis) and the minimal space block occupied by the object

Specified by:
registerSpatialObject in interface SpatialDatabase
Parameters:
objectID - - id of the registered object
objectLocation - - initial location of the object represnted as @see Location3D
objectOrientation - - initial orientation of the object represnted as @see Orientation3D
objectOccupedSpace - - initial space occupied by the object represnted as @see Block3D
Throws:
AlreadyRegisteredException - when the object is already registered in the spatial database

updateSpatialObject

public void updateSpatialObject(java.lang.String objectID,
                                Location3D objectLocation,
                                Orientation3D objectOrientation,
                                Block3D objectOccupedSpace)
                         throws NotRegisteredException
Description copied from interface: SpatialDatabase
This method allows to modify information about a known spatial object. The value null of a particular parameter is interpreted as information that the corresponding spatial property of the object has not changed.

Specified by:
updateSpatialObject in interface SpatialDatabase
Parameters:
objectID - - id of the updated object
objectLocation - - new location of the object represnted as @see Location3D
objectOrientation - - new orientation of the object represnted as @see Orientation3D
objectOccupedSpace - - new space occupied by the object represnted as @see Block3D
Throws:
NotRegisteredException - when the object is not registered in the spatial database
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