RDFGoalReasoner.cpp

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#include <knowrob/reasoner/RDFGoalReasoner.h>
#include "knowrob/integration/python/utils.h"
 
using namespace knowrob;
 
bool RDFGoalReasoner::evaluate(GoalPtr query) {
    std::vector<TriplePatternPtr> rdfLiterals;
    for (auto &lit : query->formula()->literals()) {
        auto rdfLit = std::dynamic_pointer_cast<TriplePattern>(lit);
        if (rdfLit) {
            rdfLiterals.push_back(rdfLit);
        } else {
            rdfLiterals.push_back(std::make_shared<TriplePattern>(lit->predicate(), lit->isNegated()));
        }
    }
    auto rdfGoal = std::make_shared<RDFGoal>(rdfLiterals, *query);
    return evaluate(rdfGoal);
}
 
namespace knowrob::py {
 
    // this struct is needed because Reasoner has pure virtual methods
    struct RDFGoalReasonerWrap : public RDFGoalReasoner, boost::python::wrapper<RDFGoalReasoner> {
        explicit RDFGoalReasonerWrap(PyObject *p) : RDFGoalReasoner(), self(p) {}
 
        bool initializeReasoner(const PropertyTree &config) override {
            return call_method<bool>(self, "initializeReasoner", config);
        }
 
        bool evaluate(RDFGoalPtr query) override {
            return call_method<bool>(self, "evaluate", query);
        }
 
    private:
        PyObject *self;
    };
 
    template<>
    void createType<RDFGoalReasoner>() {
        using namespace boost::python;
 
        // export the GoalDrivenReasoner class
        class_<RDFGoalReasoner, std::shared_ptr<RDFGoalReasonerWrap>, bases<GoalDrivenReasoner>, boost::noncopyable>
                ("RDFGoalReasoner", init<>())
                        // methods that must be implemented by reasoner plugins
                .def("evaluate", &RDFGoalReasonerWrap::evaluate);
    }
}