From 90fcaa7612027604251080daf4713349b95223d4 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Wed, 2 Aug 2023 10:09:22 +0200 Subject: [PATCH 01/18] [tests] update sparql test --- src/tests/sparql.cpp | 58 +++++++++++++++++++++++++++++++++++++++++--- 1 file changed, 55 insertions(+), 3 deletions(-) diff --git a/src/tests/sparql.cpp b/src/tests/sparql.cpp index 5cef7905..90561278 100644 --- a/src/tests/sparql.cpp +++ b/src/tests/sparql.cpp @@ -113,6 +113,18 @@ std::vector> runSparqlBase(ontologenius::Spar return solutions; } +std::vector> runSparqlBaseIndex(ontologenius::Sparql& solver, const std::string& query) +{ + high_resolution_clock::time_point t1 = high_resolution_clock::now(); + auto solutions = solver.runIndex(query); + high_resolution_clock::time_point t2 = high_resolution_clock::now(); + duration time_span = duration_cast>(t2 - t1); + + std::cout << "Sparql index has found " << solutions.size() << " solutions in " << time_span.count()*1000 << "ms" << std::endl; + + return solutions; +} + void configureInterface(ontologenius::RosInterface& interface) { std::vector files = { @@ -136,6 +148,22 @@ void configureInterfaceTaboo(ontologenius::RosInterface& interface) interface.init("en", "none", files, config); } +void testInsertIndex(size_t nb) +{ + std::unordered_set set; + high_resolution_clock::time_point t1 = high_resolution_clock::now(); + + for(size_t i = 0; i < nb; i++) + { + set.insert(i); + } + + high_resolution_clock::time_point t2 = high_resolution_clock::now(); + duration time_span = duration_cast>(t2 - t1); + + std::cout << "Insertion of " << nb << " long in " << time_span.count()*1000 << "ms" << std::endl; +} + int main(int argc, char** argv) { signal(SIGSEGV, handler); @@ -163,9 +191,33 @@ int main(int argc, char** argv) ontologenius::Sparql sparql_base; sparql_base.link(onto); - auto solution_base = runSparqlBase(sparql_base, query); - compareSolutions(solution_it, solution_base); + for(size_t i = 0; i < 3; i++) + { + query = "SELECT * WHERE {?0 isA movie_actor}"; + auto solution_base = runSparqlBase(sparql_base, query); + + usleep(1000000); + + query = "SELECT * WHERE {?0 isA " + std::to_string(onto->class_graph_.getIndex("movie_actor")) + "}"; + auto solution_index = runSparqlBaseIndex(sparql_base, query); + + usleep(1000000); + + query = "SELECT * WHERE {?0 isA movie_director. ?0 movie_performance ?2. ?2 isA movie_performance}"; + solution_base = runSparqlBase(sparql_base, query); + + usleep(1000000); + + query = "SELECT * WHERE {?0 isA " + std::to_string(onto->class_graph_.getIndex("movie_director")) + + ". ?0 " + std::to_string(onto->class_graph_.getIndex("movie_performance")) + + " ?2. ?2 isA " + std::to_string(onto->class_graph_.getIndex("movie_performance")) + + "}"; + solution_index = runSparqlBaseIndex(sparql_base, query); + } + + interface.stop(); + onto_thread.join(); return 0; -} \ No newline at end of file +} From 9830045ab882d1f0a3af63398a88cb57e1f07a94 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Sat, 2 Sep 2023 19:12:00 +0200 Subject: [PATCH 02/18] [IndividualGraph] methos with single same as result --- .../core/ontoGraphs/Graphs/ClassGraph.h | 4 +- .../core/ontoGraphs/Graphs/IndividualGraph.h | 19 +++-- src/core/ontoGraphs/Graphs/ClassGraph.cpp | 32 +++++-- .../ontoGraphs/Graphs/IndividualGraph.cpp | 84 +++++++++++++++---- 4 files changed, 105 insertions(+), 34 deletions(-) diff --git a/include/ontologenius/core/ontoGraphs/Graphs/ClassGraph.h b/include/ontologenius/core/ontoGraphs/Graphs/ClassGraph.h index cd12eadc..f9d086da 100644 --- a/include/ontologenius/core/ontoGraphs/Graphs/ClassGraph.h +++ b/include/ontologenius/core/ontoGraphs/Graphs/ClassGraph.h @@ -80,8 +80,8 @@ class ClassGraph : public OntoGraph std::unordered_set getRangeOf(const std::string& _class, int depth = -1); std::unordered_set getRangeOf(index_t _class, int depth = -1); - void getDownIndividual(ClassBranch_t* branch, std::unordered_set& res); - void getDownIndividual(ClassBranch_t* branch, std::unordered_set& res); + void getDownIndividual(ClassBranch_t* branch, std::unordered_set& res, bool single_same = false); + void getDownIndividual(ClassBranch_t* branch, std::unordered_set& res, bool single_same = false); std::unordered_set getDownIndividualPtrSafe(ClassBranch_t* branch); void getDownIndividualPtrSafe(ClassBranch_t* branch, std::unordered_set& res); diff --git a/include/ontologenius/core/ontoGraphs/Graphs/IndividualGraph.h b/include/ontologenius/core/ontoGraphs/Graphs/IndividualGraph.h index b43abf61..a104c265 100644 --- a/include/ontologenius/core/ontoGraphs/Graphs/IndividualGraph.h +++ b/include/ontologenius/core/ontoGraphs/Graphs/IndividualGraph.h @@ -88,11 +88,11 @@ class IndividualGraph : public Graph std::unordered_set getRelatedWith(const std::string& individual); //C3 std::unordered_set getRelatedWith(index_t individual); std::unordered_set getFrom(const std::string& param); - std::unordered_set getFrom(const std::string& individual, const std::string& property); - std::unordered_set getFrom(index_t individual, index_t property); + std::unordered_set getFrom(const std::string& individual, const std::string& property, bool single_same = false); + std::unordered_set getFrom(index_t individual, index_t property, bool single_same = false); std::unordered_set getOn(const std::string& param); - std::unordered_set getOn(const std::string& individual, const std::string& property); - std::unordered_set getOn(index_t individual, index_t property); + std::unordered_set getOn(const std::string& individual, const std::string& property, bool single_same = false); + std::unordered_set getOn(index_t individual, index_t property, bool single_same = false); std::unordered_set getWith(const std::string& param, int depth = -1); std::unordered_set getWith(const std::string& first_individual, const std::string& second_individual, int depth = -1); std::unordered_set getWith(index_t first_individual, index_t second_individual, int depth = -1); @@ -116,8 +116,8 @@ class IndividualGraph : public Graph std::unordered_set findFuzzy(const std::string& value, bool use_default = true, double threshold = 0.5); bool touch(const std::string& value); bool touch(index_t value); - std::unordered_set getType(const std::string& class_selector); - std::unordered_set getType(index_t class_selector); + std::unordered_set getType(const std::string& class_selector, bool single_same = false); + std::unordered_set getType(index_t class_selector, bool single_same = false); bool relationExists(const std::string& param); bool relationExists(const std::string& subject, const std::string& property, const std::string& object); @@ -152,7 +152,9 @@ class IndividualGraph : public Graph std::vector> getChains(ObjectPropertyBranch_t* base_property); void getUpPtr(IndividualBranch_t* indiv, std::unordered_set& res, int depth = -1, uint32_t current_depth = 0); + void getLowestSame(IndividualBranch_t* individual, std::unordered_set& res); void getSame(IndividualBranch_t* individual, std::unordered_set& res); + void getLowestSame(IndividualBranch_t* individual, std::unordered_set& res); void getSame(IndividualBranch_t* individual, std::unordered_set& res); private: @@ -170,8 +172,8 @@ class IndividualGraph : public Graph template void getRelatedOn(const T& property, std::unordered_set& res); template void getUp(IndividualBranch_t* indiv, std::unordered_set& res, int depth = -1, uint32_t current_depth = 0); template void getRelatedWith(index_t individual, std::unordered_set& res); - template void getFrom(index_t individual, const T& property, std::unordered_set& res); - template std::unordered_set getOn(IndividualBranch_t* individual, const T& property); + template void getFrom(index_t individual, const T& property, std::unordered_set& res, bool single_same = false); + template std::unordered_set getOn(IndividualBranch_t* individual, const T& property, bool single_same = false); template void getWith(IndividualBranch_t* first_individual, index_t second_individual_index, std::unordered_set& res, int depth); template void getDomainOf(IndividualBranch_t* individual, std::unordered_set& res, int depth); template void getRangeOf(IndividualBranch_t* individual, std::unordered_set& res, int depth); @@ -192,6 +194,7 @@ class IndividualGraph : public Graph void getDistincts(IndividualBranch_t* individual, std::unordered_set& res); std::unordered_set getSameId(const std::string& individual); std::unordered_set getSameId(index_t individual); + void getLowestSame(IndividualBranch_t* individual, std::unordered_set& res); void getSame(IndividualBranch_t* individual, std::unordered_set& res); void getSame(IndividualBranch_t* individual, std::vector& res); std::unordered_set getSame(IndividualBranch_t* individual); diff --git a/src/core/ontoGraphs/Graphs/ClassGraph.cpp b/src/core/ontoGraphs/Graphs/ClassGraph.cpp index 701d7677..319b8d19 100644 --- a/src/core/ontoGraphs/Graphs/ClassGraph.cpp +++ b/src/core/ontoGraphs/Graphs/ClassGraph.cpp @@ -1068,20 +1068,36 @@ void ClassGraph::getRangeOf(ClassBranch_t* branch, std::unordered_set& } } -void ClassGraph::getDownIndividual(ClassBranch_t* branch, std::unordered_set& res) +void ClassGraph::getDownIndividual(ClassBranch_t* branch, std::unordered_set& res, bool single_same) { std::shared_lock lock(Graph::mutex_); - res.reserve(res.size() + branch->individual_childs_.size() * 1.5); - for(auto& indiv : branch->individual_childs_) - individual_graph_->getSame(indiv.elem, res); + if(single_same) + { + res.reserve(res.size() + branch->individual_childs_.size() * 1.5); + for(auto& indiv : branch->individual_childs_) + individual_graph_->getLowestSame(indiv.elem, res); + } + else + { + for(auto& indiv : branch->individual_childs_) + individual_graph_->getSame(indiv.elem, res); + } } -void ClassGraph::getDownIndividual(ClassBranch_t* branch, std::unordered_set& res) +void ClassGraph::getDownIndividual(ClassBranch_t* branch, std::unordered_set& res, bool single_same) { std::shared_lock lock(Graph::mutex_); - res.reserve(res.size() + branch->individual_childs_.size() * 1.5); - for(auto& indiv : branch->individual_childs_) - individual_graph_->getSame(indiv.elem, res); + if(single_same) + { + for(auto& indiv : branch->individual_childs_) + individual_graph_->getLowestSame(indiv.elem, res); + } + else + { + res.reserve(res.size() + branch->individual_childs_.size() * 1.5); + for(auto& indiv : branch->individual_childs_) + individual_graph_->getSame(indiv.elem, res); + } } std::unordered_set ClassGraph::getDownIndividualPtrSafe(ClassBranch_t* branch) diff --git a/src/core/ontoGraphs/Graphs/IndividualGraph.cpp b/src/core/ontoGraphs/Graphs/IndividualGraph.cpp index 012a7adb..cd7241e3 100644 --- a/src/core/ontoGraphs/Graphs/IndividualGraph.cpp +++ b/src/core/ontoGraphs/Graphs/IndividualGraph.cpp @@ -678,7 +678,7 @@ std::unordered_set IndividualGraph::getFrom(const std::string& para return {}; } -std::unordered_set IndividualGraph::getFrom(const std::string& individual, const std::string& property) +std::unordered_set IndividualGraph::getFrom(const std::string& individual, const std::string& property, bool single_same) { std::unordered_set res; index_t indiv_index = 0; @@ -698,20 +698,20 @@ std::unordered_set IndividualGraph::getFrom(const std::string& indi } } - getFrom(indiv_index, property, res); + getFrom(indiv_index, property, res, single_same); return res; } -std::unordered_set IndividualGraph::getFrom(index_t individual, index_t property) +std::unordered_set IndividualGraph::getFrom(index_t individual, index_t property, bool single_same) { std::unordered_set res; - getFrom(individual, property, res); + getFrom(individual, property, res, single_same); return res; } template -void IndividualGraph::getFrom(index_t individual, const T& property, std::unordered_set& res) +void IndividualGraph::getFrom(index_t individual, const T& property, std::unordered_set& res, bool single_same) { std::unordered_set object_properties = object_property_graph_->getDownId(property); std::unordered_set data_properties = data_property_graph_->getDownId(property); @@ -767,7 +767,12 @@ void IndividualGraph::getFrom(index_t individual, const T& property, std::unorde } if(found == true) - getSame(indiv_i, res); + { + if(single_same) + getLowestSame(indiv_i, res); + else + getSame(indiv_i, res); + } } } @@ -831,24 +836,24 @@ std::unordered_set IndividualGraph::getOn(const std::string& param) return std::unordered_set(); } -std::unordered_set IndividualGraph::getOn(const std::string& individual, const std::string& property) +std::unordered_set IndividualGraph::getOn(const std::string& individual, const std::string& property, bool single_same) { std::lock_guard lock(Graph::mutex_); IndividualBranch_t* indiv = container_.find(individual); - return getOn(indiv, property); + return getOn(indiv, property, single_same); } -std::unordered_set IndividualGraph::getOn(index_t individual, index_t property) +std::unordered_set IndividualGraph::getOn(index_t individual, index_t property, bool single_same) { std::lock_guard lock(Graph::mutex_); IndividualBranch_t* indiv = ordered_individuals_[individual]; - return getOn(indiv, property); + return getOn(indiv, property, single_same); } template -std::unordered_set IndividualGraph::getOn(IndividualBranch_t* individual, const T& property) +std::unordered_set IndividualGraph::getOn(IndividualBranch_t* individual, const T& property, bool single_same) { std::unordered_set res; @@ -866,7 +871,12 @@ std::unordered_set IndividualGraph::getOn(IndividualBranch_t* individual, con for(IndivObjectRelationElement_t& relation : same_indiv->object_relations_) for (index_t id : object_properties) if(relation.first->get() == id) - getSame(relation.second, res); + { + if(single_same) + getLowestSame(relation.second, res); + else + getSame(relation.second, res); + } } } else @@ -1113,6 +1123,18 @@ std::unordered_set IndividualGraph::getSameId(index_t individual) return getSameId(ordered_individuals_[individual]); } +void IndividualGraph::getLowestSame(IndividualBranch_t* individual, std::unordered_set& res) +{ + if(individual != nullptr) + { + if(individual->same_as_.size()) + res.insert(std::min_element(individual->same_as_.cbegin(), individual->same_as_.cend(), + [](auto& a, auto& b){ return a.elem->get() < b.elem->get(); })->elem); + else + res.insert(individual); + } +} + void IndividualGraph::getSame(IndividualBranch_t* individual, std::unordered_set& res) { if(individual != nullptr) @@ -1142,6 +1164,21 @@ std::unordered_set IndividualGraph::getSame(IndividualBranch_t* ind return res; } +void IndividualGraph::getLowestSame(IndividualBranch_t* individual, std::unordered_set& res) +{ + if(individual != nullptr) + { + if(individual->same_as_.size()) + { + auto indiv = std::min_element(individual->same_as_.cbegin(), individual->same_as_.cend(), + [](auto& a, auto& b){ return a.elem->get() < b.elem->get(); }); + res.insert(indiv->elem->value()); + } + else + res.insert(individual->value()); + } +} + void IndividualGraph::getSame(IndividualBranch_t* individual, std::unordered_set& res) { if(individual != nullptr) @@ -1160,6 +1197,21 @@ std::unordered_set IndividualGraph::getSameId(IndividualBranch_t* indiv return res; } +void IndividualGraph::getLowestSame(IndividualBranch_t* individual, std::unordered_set& res) +{ + if(individual != nullptr) + { + if(individual->same_as_.size()) + { + auto indiv = std::min_element(individual->same_as_.cbegin(), individual->same_as_.cend(), + [](auto& a, auto& b){ return a.elem->get() < b.elem->get(); }); + res.insert(indiv->elem->get()); + } + else + res.insert(individual->get()); + } +} + void IndividualGraph::getSame(IndividualBranch_t* individual, std::unordered_set& res) { if(individual != nullptr) @@ -1416,7 +1468,7 @@ bool IndividualGraph::touch(index_t value) return (branch != nullptr); } -std::unordered_set IndividualGraph::getType(const std::string& class_selector) +std::unordered_set IndividualGraph::getType(const std::string& class_selector, bool single_same) { std::shared_lock lock_class(class_graph_->mutex_); @@ -1426,13 +1478,13 @@ std::unordered_set IndividualGraph::getType(const std::string& clas { std::unordered_set down_set = class_graph_->getDownPtrSafe(class_branch); for(auto down : down_set) - class_graph_->getDownIndividual(down, res); + class_graph_->getDownIndividual(down, res, single_same); } return res; } -std::unordered_set IndividualGraph::getType(index_t class_selector) +std::unordered_set IndividualGraph::getType(index_t class_selector, bool single_same) { std::shared_lock lock_class(class_graph_->mutex_); @@ -1442,7 +1494,7 @@ std::unordered_set IndividualGraph::getType(index_t class_selector) { std::unordered_set down_set = class_graph_->getDownPtrSafe(class_branch); for(auto down : down_set) - class_graph_->getDownIndividual(down, res); + class_graph_->getDownIndividual(down, res, single_same); } return res; From cd4e1e3d7e2fce646883be67a4527b208ff6280a Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Sat, 2 Sep 2023 19:12:25 +0200 Subject: [PATCH 03/18] [Sparql] use of single same as --- .../ontologenius/core/ontologyOperators/Sparql.h | 5 +++-- src/core/ontologyOperators/Sparql.cpp | 14 ++++++++------ 2 files changed, 11 insertions(+), 8 deletions(-) diff --git a/include/ontologenius/core/ontologyOperators/Sparql.h b/include/ontologenius/core/ontologyOperators/Sparql.h index b6f66089..de797ead 100644 --- a/include/ontologenius/core/ontologyOperators/Sparql.h +++ b/include/ontologenius/core/ontologyOperators/Sparql.h @@ -17,8 +17,8 @@ class Sparql Sparql(); void link(Ontology* onto) { onto_ = onto; } - std::vector> runStr(const std::string& query); - std::vector> runIndex(const std::string& query); + std::vector> runStr(const std::string& query, bool single_same = false); + std::vector> runIndex(const std::string& query, bool single_same = false); std::string getError() { return error_; } @@ -27,6 +27,7 @@ class Sparql std::string error_; std::regex sparql_pattern_; std::map operators_; + bool single_same_; template std::vector> run(const std::string& query); diff --git a/src/core/ontologyOperators/Sparql.cpp b/src/core/ontologyOperators/Sparql.cpp index c0e05c7f..e750e8a5 100644 --- a/src/core/ontologyOperators/Sparql.cpp +++ b/src/core/ontologyOperators/Sparql.cpp @@ -12,13 +12,15 @@ namespace ontologenius operators_["NOT EXISTS"] = sparql_not_exists; } - std::vector> Sparql::runStr(const std::string& query) + std::vector> Sparql::runStr(const std::string& query, bool single_same) { + single_same_ = single_same; return run(query); } - std::vector> Sparql::runIndex(const std::string& query) + std::vector> Sparql::runIndex(const std::string& query, bool single_same) { + single_same_ = single_same; return run(query); } @@ -313,7 +315,7 @@ namespace ontologenius template std::unordered_set Sparql::getOn(const triplet_t& triplet, const T& selector) { - auto res = onto_->individual_graph_.getOn(triplet.subject.value, triplet.predicat.value); + auto res = onto_->individual_graph_.getOn(triplet.subject.value, triplet.predicat.value, single_same_); if(isSelectorDefined(selector) == false) return res; else if(std::find(res.begin(), res.end(), selector) != res.end()) @@ -326,11 +328,11 @@ namespace ontologenius std::unordered_set Sparql::getFrom(const triplet_t& triplet, const T& selector) { if(isSelectorDefined(selector) == false) - return onto_->individual_graph_.getFrom(triplet.object.value, triplet.predicat.value); + return onto_->individual_graph_.getFrom(triplet.object.value, triplet.predicat.value, single_same_); else { // Here we revert the problem as we know what we are expecting for. - auto res = onto_->individual_graph_.getOn(selector, triplet.predicat.value); + auto res = onto_->individual_graph_.getOn(selector, triplet.predicat.value, single_same_); if(std::find(res.begin(), res.end(), triplet.object.value) != res.end()) return std::unordered_set({selector}); else @@ -357,7 +359,7 @@ namespace ontologenius std::unordered_set Sparql::getType(const triplet_t& triplet, const T& selector) { if(isSelectorDefined(selector) == false) - return onto_->individual_graph_.getType(triplet.object.value); + return onto_->individual_graph_.getType(triplet.object.value, single_same_); else { auto types = onto_->individual_graph_.getUp(selector); From 44704ba68a6f0c30fd28fc598d8e06c4e7301cc4 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 7 Sep 2023 13:18:57 +0200 Subject: [PATCH 04/18] [OntoGraph] existInInheritance --- .../core/ontoGraphs/Graphs/OntoGraph.h | 31 +++++++++++++++++++ 1 file changed, 31 insertions(+) diff --git a/include/ontologenius/core/ontoGraphs/Graphs/OntoGraph.h b/include/ontologenius/core/ontoGraphs/Graphs/OntoGraph.h index 0711f80d..248f574c 100644 --- a/include/ontologenius/core/ontoGraphs/Graphs/OntoGraph.h +++ b/include/ontologenius/core/ontoGraphs/Graphs/OntoGraph.h @@ -52,6 +52,9 @@ class OntoGraph : public Graph bool touch(const std::string& value); bool touch(index_t value); + bool existInInheritance(B* branch, const std::string& selector); + bool existInInheritance(B* branch, index_t selector); + void getDownSafe(B* branch, std::unordered_set& res, int depth = -1, unsigned int current_depth = 0); void getUpSafe(B* branch, std::unordered_set& res, int depth = -1, unsigned int current_depth = 0); void getDownSafe(B* branch, std::unordered_set& res, int depth = -1, unsigned int current_depth = 0); @@ -384,6 +387,34 @@ void OntoGraph::amIA(B** me, std::map& vect, const std::stri } } +template +bool OntoGraph::existInInheritance(B* branch, const std::string& selector) +{ + if(branch->value() == selector) + return true; + else + { + for(auto& mother : branch->mothers_) + if(existInInheritance(mother.elem, selector)) + return true; + } + return false; +} + +template +bool OntoGraph::existInInheritance(B* branch, index_t selector) +{ + if(branch->get() == selector) + return true; + else + { + for(auto& mother : branch->mothers_) + if(existInInheritance(mother.elem, selector)) + return true; + } + return false; +} + template void OntoGraph::getDownSafe(B* branch, std::unordered_set& res, int depth, unsigned int current_depth) { From be4577fe24bb319c38595ff3664edce212d9ddf6 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 7 Sep 2023 13:19:32 +0200 Subject: [PATCH 05/18] [ClassGraph] getDownIndividual reserve --- src/core/ontoGraphs/Graphs/ClassGraph.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/core/ontoGraphs/Graphs/ClassGraph.cpp b/src/core/ontoGraphs/Graphs/ClassGraph.cpp index 319b8d19..ea019ebc 100644 --- a/src/core/ontoGraphs/Graphs/ClassGraph.cpp +++ b/src/core/ontoGraphs/Graphs/ClassGraph.cpp @@ -1089,6 +1089,7 @@ void ClassGraph::getDownIndividual(ClassBranch_t* branch, std::unordered_set lock(Graph::mutex_); if(single_same) { + res.reserve(res.size() + branch->individual_childs_.size()); for(auto& indiv : branch->individual_childs_) individual_graph_->getLowestSame(indiv.elem, res); } From a88a56091f4d85fcd0d85115eb5dc979763fe0ec Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 7 Sep 2023 13:20:25 +0200 Subject: [PATCH 06/18] [ClassGraph] getOn do not use getUpPtrSafe for depth 1 --- src/core/ontoGraphs/Graphs/ClassGraph.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/core/ontoGraphs/Graphs/ClassGraph.cpp b/src/core/ontoGraphs/Graphs/ClassGraph.cpp index ea019ebc..73992bbd 100644 --- a/src/core/ontoGraphs/Graphs/ClassGraph.cpp +++ b/src/core/ontoGraphs/Graphs/ClassGraph.cpp @@ -847,10 +847,10 @@ void ClassGraph::getOn(ClassBranch_t* class_branch, std::unordered_set& } current_depth++; - std::unordered_set up_set = getUpPtrSafe(class_branch, 1); - for(ClassBranch_t* up : up_set) - if(up != class_branch) - getOn(up, object_properties, data_properties, res, current_depth, found_depth); + //std::unordered_set up_set = getUpPtrSafe(class_branch, 1); + for(auto& up : class_branch->mothers_) + if(up.elem != class_branch) + getOn(up.elem, object_properties, data_properties, res, current_depth, found_depth); } } From 24dba2689ae2b3bf8a3ee2534a9026e93dfe8878 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 7 Sep 2023 13:20:52 +0200 Subject: [PATCH 07/18] [IndividualGraph] isA --- .../core/ontoGraphs/Graphs/IndividualGraph.h | 2 + .../ontoGraphs/Graphs/IndividualGraph.cpp | 53 +++++++++++++++++++ 2 files changed, 55 insertions(+) diff --git a/include/ontologenius/core/ontoGraphs/Graphs/IndividualGraph.h b/include/ontologenius/core/ontoGraphs/Graphs/IndividualGraph.h index a104c265..657ee125 100644 --- a/include/ontologenius/core/ontoGraphs/Graphs/IndividualGraph.h +++ b/include/ontologenius/core/ontoGraphs/Graphs/IndividualGraph.h @@ -118,6 +118,8 @@ class IndividualGraph : public Graph bool touch(index_t value); std::unordered_set getType(const std::string& class_selector, bool single_same = false); std::unordered_set getType(index_t class_selector, bool single_same = false); + bool isA(const std::string& indiv, const std::string& class_selector); + bool isA(index_t indiv, index_t class_selector); bool relationExists(const std::string& param); bool relationExists(const std::string& subject, const std::string& property, const std::string& object); diff --git a/src/core/ontoGraphs/Graphs/IndividualGraph.cpp b/src/core/ontoGraphs/Graphs/IndividualGraph.cpp index cd7241e3..e023f780 100644 --- a/src/core/ontoGraphs/Graphs/IndividualGraph.cpp +++ b/src/core/ontoGraphs/Graphs/IndividualGraph.cpp @@ -1500,6 +1500,59 @@ std::unordered_set IndividualGraph::getType(index_t class_selector, boo return res; } + +bool IndividualGraph::isA(const std::string& indiv, const std::string& class_selector) +{ + std::shared_lock lock(Graph::mutex_); + IndividualBranch_t* branch = container_.find(indiv); + if(branch != nullptr) + { + std::shared_lock lock_class(class_graph_->mutex_); + if(branch->same_as_.size()) + { + std::unordered_set sames; + getSame(branch, sames); + for(IndividualBranch_t* it : sames) + for(auto& is_a : it->is_a_) + if(class_graph_->existInInheritance(is_a.elem, class_selector)) + return true; + } + else + { + for(auto& is_a : branch->is_a_) + if(class_graph_->existInInheritance(is_a.elem, class_selector)) + return true; + } + } + return false; +} + +bool IndividualGraph::isA(index_t indiv, index_t class_selector) +{ + std::shared_lock lock(Graph::mutex_); + IndividualBranch_t* branch = ordered_individuals_[indiv]; + if(branch != nullptr) + { + std::shared_lock lock_class(class_graph_->mutex_); + if(branch->same_as_.size()) + { + std::unordered_set sames; + getSame(branch, sames); + for(IndividualBranch_t* it : sames) + for(auto& is_a : it->is_a_) + if(class_graph_->existInInheritance(is_a.elem, class_selector)) + return true; + } + else + { + for(auto& is_a : branch->is_a_) + if(class_graph_->existInInheritance(is_a.elem, class_selector)) + return true; + } + } + return false; +} + bool IndividualGraph::relationExists(const std::string& param) { std::string subject; From 403900297b63ff3753dcf64a37f49672ed6905b3 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 7 Sep 2023 13:21:24 +0200 Subject: [PATCH 08/18] [IndividualGraph] getUpPtr special case for depth 1 --- .../ontoGraphs/Graphs/IndividualGraph.cpp | 31 ++++++++++++++----- 1 file changed, 23 insertions(+), 8 deletions(-) diff --git a/src/core/ontoGraphs/Graphs/IndividualGraph.cpp b/src/core/ontoGraphs/Graphs/IndividualGraph.cpp index e023f780..ee87abd3 100644 --- a/src/core/ontoGraphs/Graphs/IndividualGraph.cpp +++ b/src/core/ontoGraphs/Graphs/IndividualGraph.cpp @@ -1084,21 +1084,36 @@ void IndividualGraph::getUp(IndividualBranch_t* indiv, std::unordered_set& re void IndividualGraph::getUpPtr(IndividualBranch_t* indiv, std::unordered_set& res, int depth, uint32_t current_depth) { - current_depth++; if(indiv != nullptr) { - if(indiv->same_as_.size()) + if(depth != 1) { - std::unordered_set sames; - getSame(indiv, sames); - for(IndividualBranch_t* it : sames) - for(auto& is_a : it->is_a_) + current_depth++; + if(indiv->same_as_.size()) + { + for(auto& it : indiv->same_as_) + for(auto& is_a : it.elem->is_a_) + class_graph_->getUpPtr(is_a.elem, res, depth, current_depth); + } + else + { + for(auto& is_a : indiv->is_a_) class_graph_->getUpPtr(is_a.elem, res, depth, current_depth); + } } else { - for(auto& is_a : indiv->is_a_) - class_graph_->getUpPtr(is_a.elem, res, depth, current_depth); + if(indiv->same_as_.size()) + { + for(auto& it : indiv->same_as_) + for(auto& is_a : it.elem->is_a_) + res.insert(is_a.elem); + } + else + { + for(auto& is_a : indiv->is_a_) + res.insert(is_a.elem); + } } } } From f8dd72d712cf0c8d1497c82c735c0c2f37c89da5 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 7 Sep 2023 13:21:58 +0200 Subject: [PATCH 09/18] [IndividualGraph] reduce set creation --- .../ontoGraphs/Graphs/IndividualGraph.cpp | 49 ++++++++++++++----- 1 file changed, 36 insertions(+), 13 deletions(-) diff --git a/src/core/ontoGraphs/Graphs/IndividualGraph.cpp b/src/core/ontoGraphs/Graphs/IndividualGraph.cpp index ee87abd3..f5c9cf81 100644 --- a/src/core/ontoGraphs/Graphs/IndividualGraph.cpp +++ b/src/core/ontoGraphs/Graphs/IndividualGraph.cpp @@ -852,6 +852,8 @@ std::unordered_set IndividualGraph::getOn(index_t individual, index_t p return getOn(indiv, property, single_same); } +// Duplication in this function avoid the creation of the same_as set +// This for performance issues in the SPARQL solver template std::unordered_set IndividualGraph::getOn(IndividualBranch_t* individual, const T& property, bool single_same) { @@ -859,16 +861,28 @@ std::unordered_set IndividualGraph::getOn(IndividualBranch_t* individual, con if(individual != nullptr) { - std::unordered_set sames; - getSame(individual, sames); - std::unordered_set object_properties = object_property_graph_->getDownId(property); std::unordered_set data_properties; if(object_properties.size()) { - for(auto same_indiv : sames) + if(individual->same_as_.size()) + { + for(auto& same_indiv : individual->same_as_) + { + for(IndivObjectRelationElement_t& relation : same_indiv.elem->object_relations_) + for (index_t id : object_properties) + if(relation.first->get() == id) + { + if(single_same) + getLowestSame(relation.second, res); + else + getSame(relation.second, res); + } + } + } + else { - for(IndivObjectRelationElement_t& relation : same_indiv->object_relations_) + for(IndivObjectRelationElement_t& relation : individual->object_relations_) for (index_t id : object_properties) if(relation.first->get() == id) { @@ -879,14 +893,24 @@ std::unordered_set IndividualGraph::getOn(IndividualBranch_t* individual, con } } } - else + else { data_properties = data_property_graph_->getDownId(property); if(data_properties.size()) { - for(auto same_indiv : sames) + if(individual->same_as_.size()) { - for(IndivDataRelationElement_t& relation : same_indiv->data_relations_) + for(auto& same_indiv : individual->same_as_) + { + for(IndivDataRelationElement_t& relation : same_indiv.elem->data_relations_) + for (index_t id : data_properties) + if(relation.first->get() == id) + insert(res, relation.second); + } + } + else + { + for(IndivDataRelationElement_t& relation : individual->data_relations_) for (index_t id : data_properties) if(relation.first->get() == id) insert(res, relation.second); @@ -1068,10 +1092,8 @@ void IndividualGraph::getUp(IndividualBranch_t* indiv, std::unordered_set& re { if(indiv->same_as_.size()) { - std::unordered_set sames; - getSame(indiv, sames); - for(IndividualBranch_t* it : sames) - for(auto& is_a : it->is_a_) + for(auto& it : indiv->same_as_) + for(auto& is_a : it.elem->is_a_) class_graph_->getUp(is_a.elem, res, depth, current_depth); } else @@ -1507,7 +1529,8 @@ std::unordered_set IndividualGraph::getType(index_t class_selector, boo ClassBranch_t* class_branch = class_graph_->container_.find(ValuedNode::table_.get(class_selector)); if(class_branch != nullptr) { - std::unordered_set down_set = class_graph_->getDownPtrSafe(class_branch); + std::unordered_set down_set; + class_graph_->getDownPtr(class_branch, down_set); for(auto down : down_set) class_graph_->getDownIndividual(down, res, single_same); } From 51abdd45da882ae710578199a1a01979b3450095 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 7 Sep 2023 13:22:18 +0200 Subject: [PATCH 10/18] [Sparql] use isA function --- src/core/ontologyOperators/Sparql.cpp | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/src/core/ontologyOperators/Sparql.cpp b/src/core/ontologyOperators/Sparql.cpp index e750e8a5..1a3fe34a 100644 --- a/src/core/ontologyOperators/Sparql.cpp +++ b/src/core/ontologyOperators/Sparql.cpp @@ -347,8 +347,9 @@ namespace ontologenius return onto_->individual_graph_.getUp(triplet.subject.value); else { - auto is = onto_->individual_graph_.getUp(triplet.subject.value); - if(std::find(is.begin(), is.end(), selector) != is.end()) + //auto is = onto_->individual_graph_.getUp(triplet.subject.value); + //if(std::find(is.begin(), is.end(), selector) != is.end()) + if(onto_->individual_graph_.isA(triplet.subject.value, selector)) return std::unordered_set({selector}); else return std::unordered_set(); @@ -362,9 +363,10 @@ namespace ontologenius return onto_->individual_graph_.getType(triplet.object.value, single_same_); else { - auto types = onto_->individual_graph_.getUp(selector); - if(std::find(types.begin(), types.end(), triplet.object.value) != types.end()) - return std::unordered_set({selector}); + //auto types = onto_->individual_graph_.getUp(selector); + //if(std::find(types.begin(), types.end(), triplet.object.value) != types.end()) + if(onto_->individual_graph_.isA(selector, triplet.object.value)) + return {selector}; else return std::unordered_set(); } From 44ad603beaa527be808ad6151251bd06a45210bd Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 7 Sep 2023 14:52:59 +0200 Subject: [PATCH 11/18] [Sparql] update sparql msg to reduce memory use --- .../API/ontologenius/clients/SparqlClient.h | 2 +- .../ontologenius/clientsIndex/SparqlIndexClient.h | 2 +- msg/OntologeniusSparqlIndexResponse.msg | 1 - msg/OntologeniusSparqlResponse.msg | 1 - src/API/ontologenius/clients/SparqlClient.cpp | 8 ++++---- .../ontologenius/clientsIndex/SparqlIndexClient.cpp | 6 +++--- src/core/ontologyOperators/SparqlSolver.cpp | 12 ++++++++++-- src/interface/RosInterfaceIndexHandlers.cpp | 11 ++++++++--- src/interface/RosInterfaceStringHandlers.cpp | 11 ++++++++--- srv/OntologeniusSparqlIndexService.srv | 1 + srv/OntologeniusSparqlService.srv | 1 + 11 files changed, 37 insertions(+), 19 deletions(-) diff --git a/include/ontologenius/API/ontologenius/clients/SparqlClient.h b/include/ontologenius/API/ontologenius/clients/SparqlClient.h index 8a807005..131dee43 100644 --- a/include/ontologenius/API/ontologenius/clients/SparqlClient.h +++ b/include/ontologenius/API/ontologenius/clients/SparqlClient.h @@ -23,7 +23,7 @@ class SparqlClient n_ = n; } - std::vector call(const std::string& query); + std::pair, std::vector> call(const std::string& query); private: ros::ServiceClient client; diff --git a/include/ontologenius/API/ontologenius/clientsIndex/SparqlIndexClient.h b/include/ontologenius/API/ontologenius/clientsIndex/SparqlIndexClient.h index 44d3f221..cd3eb316 100644 --- a/include/ontologenius/API/ontologenius/clientsIndex/SparqlIndexClient.h +++ b/include/ontologenius/API/ontologenius/clientsIndex/SparqlIndexClient.h @@ -23,7 +23,7 @@ class SparqlIndexClient n_ = n; } - std::vector call(const std::string& query); + std::pair, std::vector> call(const std::string& query); private: ros::ServiceClient client; diff --git a/msg/OntologeniusSparqlIndexResponse.msg b/msg/OntologeniusSparqlIndexResponse.msg index ae342c0c..ed137e81 100644 --- a/msg/OntologeniusSparqlIndexResponse.msg +++ b/msg/OntologeniusSparqlIndexResponse.msg @@ -1,2 +1 @@ -string[] names int64[] values diff --git a/msg/OntologeniusSparqlResponse.msg b/msg/OntologeniusSparqlResponse.msg index 3c42d55c..b12fe572 100644 --- a/msg/OntologeniusSparqlResponse.msg +++ b/msg/OntologeniusSparqlResponse.msg @@ -1,2 +1 @@ -string[] names string[] values diff --git a/src/API/ontologenius/clients/SparqlClient.cpp b/src/API/ontologenius/clients/SparqlClient.cpp index dd76acfc..9e7cf5ab 100644 --- a/src/API/ontologenius/clients/SparqlClient.cpp +++ b/src/API/ontologenius/clients/SparqlClient.cpp @@ -2,20 +2,20 @@ namespace onto { -std::vector SparqlClient::call(const std::string& query) +std::pair, std::vector> SparqlClient::call(const std::string& query) { ontologenius::OntologeniusSparqlService srv; srv.request.query = query; if(client.call(srv)) - return srv.response.results; + return {srv.response.names, srv.response.results}; else { client = n_->serviceClient("ontologenius/" + name_, true); if(client.call(srv)) - return srv.response.results; + return {srv.response.names, srv.response.results}; else - return {}; + return {{}, {}}; } } diff --git a/src/API/ontologenius/clientsIndex/SparqlIndexClient.cpp b/src/API/ontologenius/clientsIndex/SparqlIndexClient.cpp index a2741c0c..64ada339 100644 --- a/src/API/ontologenius/clientsIndex/SparqlIndexClient.cpp +++ b/src/API/ontologenius/clientsIndex/SparqlIndexClient.cpp @@ -2,18 +2,18 @@ namespace onto { -std::vector SparqlIndexClient::call(const std::string& query) +std::pair, std::vector> SparqlIndexClient::call(const std::string& query) { ontologenius::OntologeniusSparqlIndexService srv; srv.request.query = query; if(client.call(srv)) - return srv.response.results; + return {srv.response.names, srv.response.results}; else { client = n_->serviceClient("ontologenius/" + name_, true); if(client.call(srv)) - return srv.response.results; + return {srv.response.names, srv.response.results}; else return {}; } diff --git a/src/core/ontologyOperators/SparqlSolver.cpp b/src/core/ontologyOperators/SparqlSolver.cpp index 03bc13ec..560bb439 100644 --- a/src/core/ontologyOperators/SparqlSolver.cpp +++ b/src/core/ontologyOperators/SparqlSolver.cpp @@ -3,6 +3,10 @@ #include "ontologenius/utils/String.h" #include "ontologenius/graphical/Display.h" +#include "time.h" +#include +using namespace std::chrono; + namespace ontologenius { SparqlSolver::SparqlSolver() : onto_(nullptr), @@ -17,7 +21,8 @@ namespace ontologenius SparqlSolution_t initial_solution; std::smatch match; - if (std::regex_match(query_, match, sparql_pattern_)) + bool has_matched = std::regex_match(query_, match, sparql_pattern_); + if (has_matched) { std::string vars = match[2].str(); removeChar(vars, {'\n', '\r'}); @@ -38,7 +43,6 @@ namespace ontologenius else if(var != "") initial_solution.solution_[var.substr(1)] = ""; } - } else { @@ -51,7 +55,11 @@ namespace ontologenius orderVariables(initial_solution); int index = 0; + high_resolution_clock::time_point t1 = high_resolution_clock::now(); stepDown(initial_solution, index); + high_resolution_clock::time_point t2 = high_resolution_clock::now(); + duration time_span = duration_cast>(t2 - t1); + std::cout << "took " << time_span.count()*1000 << "ms" << std::endl; return SparqlSolver::iterator(initial_solution, this); } diff --git a/src/interface/RosInterfaceIndexHandlers.cpp b/src/interface/RosInterfaceIndexHandlers.cpp index 5ad52865..e89ca536 100644 --- a/src/interface/RosInterfaceIndexHandlers.cpp +++ b/src/interface/RosInterfaceIndexHandlers.cpp @@ -372,14 +372,19 @@ bool RosInterface::sparqlIndexHandle(ontologenius::OntologeniusSparqlIndexServic { std::vector> results = sparql_.runIndex(req.query); + if(results.size()) + { + auto first = results.front(); + for(auto& r : first) + res.names.push_back(r.first); + } + for(auto& result : results) { ontologenius::OntologeniusSparqlIndexResponse tmp; for(auto& r : result) - { - tmp.names.push_back(r.first); tmp.values.push_back(r.second); - } + res.results.push_back(tmp); } diff --git a/src/interface/RosInterfaceStringHandlers.cpp b/src/interface/RosInterfaceStringHandlers.cpp index 2f33db0b..13dbf950 100644 --- a/src/interface/RosInterfaceStringHandlers.cpp +++ b/src/interface/RosInterfaceStringHandlers.cpp @@ -372,14 +372,19 @@ bool RosInterface::sparqlHandle(ontologenius::OntologeniusSparqlService::Request { std::vector> results = sparql_.runStr(req.query); + if(results.size()) + { + auto first = results.front(); + for(auto& r : first) + res.names.push_back(r.first); + } + for(auto& result : results) { ontologenius::OntologeniusSparqlResponse tmp; for(auto& r : result) - { - tmp.names.push_back(r.first); tmp.values.push_back(r.second); - } + res.results.push_back(tmp); } diff --git a/srv/OntologeniusSparqlIndexService.srv b/srv/OntologeniusSparqlIndexService.srv index 43f482f1..efe0df18 100644 --- a/srv/OntologeniusSparqlIndexService.srv +++ b/srv/OntologeniusSparqlIndexService.srv @@ -1,4 +1,5 @@ string query --- +string[] names OntologeniusSparqlIndexResponse[] results string error diff --git a/srv/OntologeniusSparqlService.srv b/srv/OntologeniusSparqlService.srv index 30ab729a..7969e493 100644 --- a/srv/OntologeniusSparqlService.srv +++ b/srv/OntologeniusSparqlService.srv @@ -1,4 +1,5 @@ string query --- +string[] names OntologeniusSparqlResponse[] results string error From 8247c97de96c1f7a2c3366ebe3a7589bc1c865c6 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 7 Sep 2023 14:55:12 +0200 Subject: [PATCH 12/18] [ontopy] update SparqlClient --- ontopy/ontologenius/clients/SparqlClient.py | 4 ++-- ontopy/ontologenius/clientsIndex/SparqlIndexClient.py | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/ontopy/ontologenius/clients/SparqlClient.py b/ontopy/ontologenius/clients/SparqlClient.py index 1089935b..b94b6ec9 100644 --- a/ontopy/ontologenius/clients/SparqlClient.py +++ b/ontopy/ontologenius/clients/SparqlClient.py @@ -20,11 +20,11 @@ def __init__(self, name): def call(self, query): try: response = self._client(query) - return response.results + return (response.names, response.results) except rospy.ServiceException as e: self._client = rospy.ServiceProxy('ontologenius/' + self._name, OntologeniusSparqlService, True) try: response = self._client(query) - return response.results + return (response.names, response.results) except rospy.ServiceException as e: return None diff --git a/ontopy/ontologenius/clientsIndex/SparqlIndexClient.py b/ontopy/ontologenius/clientsIndex/SparqlIndexClient.py index 28221030..53815390 100644 --- a/ontopy/ontologenius/clientsIndex/SparqlIndexClient.py +++ b/ontopy/ontologenius/clientsIndex/SparqlIndexClient.py @@ -20,11 +20,11 @@ def __init__(self, name): def call(self, query): try: response = self._client(query) - return response.results + return (response.names, response.results) except rospy.ServiceException as e: self._client = rospy.ServiceProxy('ontologenius/' + self._name, OntologeniusSparqlIndexService, True) try: response = self._client(query) - return response.results + return (response.names, response.results) except rospy.ServiceException as e: return None From a7853336d63c2dee5786f39306f98b45d8a6e3d2 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 7 Sep 2023 15:04:03 +0200 Subject: [PATCH 13/18] [Doc] update SPARQL documentation --- docs/cpp_API/SparqlClient.html | 109 ++++++++++++------------- docs/cpp_API/SparqlIndexClient.html | 4 +- docs/python_API/SparqlClient.html | 107 +++++++++++------------- docs/python_API/SparqlIndexClient.html | 2 +- 4 files changed, 102 insertions(+), 120 deletions(-) diff --git a/docs/cpp_API/SparqlClient.html b/docs/cpp_API/SparqlClient.html index 3520f473..5e1f7282 100644 --- a/docs/cpp_API/SparqlClient.html +++ b/docs/cpp_API/SparqlClient.html @@ -135,7 +135,7 @@

Methods

- +
SparqlClient(ros::NodeHandle* n, const std::string& name)
std::vector<OntologeniusSparqlResponse> call(const std::string& query)
std::pair<std::vector<std::string>, std::vector<OntologeniusSparqlResponse>> call(const std::string& query)
@@ -154,7 +154,7 @@

S

Constructs a sparql client.

Can be used in a multi-ontology mode by specifying the name of the ontology name. For classic use, name should be defined as "".

-

std::vector<OntologeniusSparqlResponse> call(const std::string& query)

+

std::pair<std::vector<std::string>, std::vector<OntologeniusSparqlResponse>> call(const std::string& query)

Basic query Examples

@@ -168,67 +168,58 @@

Basic query Examples

You can also add the DISTINCT keyword just after the SELECT to ensure unique results. The following blocks are examples of possible patterns.

-
-

Bedroom isA ?type

-
-
-

results:

-

-

-

names: [type]

-

values: [Room]

-
-

Give to class of Bedroom.

+
+

Bedroom isA ?type

+
+
+

names: [type]

+

results:

+

- values: [Room]

+
+

Give to class of Bedroom.

-
-

?table isA Table

-
-
-

results:

-

-

-

names: [table]

-

values: [Table2]

-

-

-

names: [table]

-

values: [Table1]

-
-

Give all the tables.

+
+

?table isA Table

+
+
+

names: [table]

+

results:

+

- values: [Table2]

+

- values: [Table1]

+
+

Give all the tables.

-
-

Table1 isIn ?room

-
-
-

results:

-

-

-

names: [room]

-

values: [Bedroom]

-
-

Give all the individuals for which the individual 'Table1' is in it.

+
+

Table1 isIn ?room

+
+
+

names: [room]

+

results:

+

- values: [Bedroom]

+
+

Give all the individuals for which the individual 'Table1' is in it.

-
-

?object isA Table. ?object isIn ?room

-
-
-

results:

-

-

-

names: [object, room]

-

values: [Table2, LivingRoom]

-

-

-

names: [object, room]

-

values: [Table1, Bedroom]

-
-

Give all the individuals that are tables and the room in which they are.

+
+

?object isA Table. ?object isIn ?room

+
+
+

names: [object, room]

+

results:

+

- values: [Table2, LivingRoom]

+

- values: [Table1, Bedroom]

+
+

Give all the individuals that are tables and the room in which they are.

-

Query with negation

-
-

?object isA Table NOT EXISTS { ?object isIn LivingRoom }

-
-
-

results:

-

-

-

names: [object]

-

values: [Table1]

-
-

Give all the individuals that are tables and not in the living room.

+

Query with negation

+
+

?object isA Table NOT EXISTS { ?object isIn LivingRoom }

+
+
+

names: [object]

+

results:

+

- values: [Table1]

+
+

Give all the individuals that are tables and not in the living room.

diff --git a/docs/cpp_API/SparqlIndexClient.html b/docs/cpp_API/SparqlIndexClient.html index 874306cb..3c0539c1 100644 --- a/docs/cpp_API/SparqlIndexClient.html +++ b/docs/cpp_API/SparqlIndexClient.html @@ -135,7 +135,7 @@

Methods

- +
SparqlIndexClient(ros::NodeHandle* n, const std::string& name)
std::vector<OntologeniusSparqlIndexResponse> call(const std::string& query)
std::pair<std::vector<std::string>, std::vector<OntologeniusSparqlIndexResponse>> call(const std::string& query)
@@ -157,7 +157,7 @@

Constructs a sparql client.

Can be used in a multi-ontology mode by specifying the name of the ontology name. For classic use, name should be defined as "".

-

std::vector<OntologeniusSparqlIndexResponse> call(const std::string& query)

+

std::pair<std::vector<std::string>, std::vector<OntologeniusSparqlIndexResponse>> call(const std::string& query)

Basic query Examples

diff --git a/docs/python_API/SparqlClient.html b/docs/python_API/SparqlClient.html index cb2c0fed..8d804722 100644 --- a/docs/python_API/SparqlClient.html +++ b/docs/python_API/SparqlClient.html @@ -134,7 +134,7 @@

Methods

- +
__init__(self, name)
OntologeniusSparqlResponse[] call(self, query)
(str[], OntologeniusSparqlResponse[]) call(self, query)
@@ -167,67 +167,58 @@

Basic query Examples

You can also add the DISTINCT keyword just after the SELECT to ensure unique results. The following blocks are examples of possible patterns.

-
-

Bedroom isA ?type

-
-
-

results:

-

-

-

names: [type]

-

values: [Room]

-
-

Give to class of Bedroom.

+
+

Bedroom isA ?type

+
+
+

names: [type]

+

results:

+

- values: [Room]

+
+

Give to class of Bedroom.

-
-

?table isA Table

-
-
-

results:

-

-

-

names: [table]

-

values: [Table2]

-

-

-

names: [table]

-

values: [Table1]

-
-

Give all the tables.

+
+

?table isA Table

+
+
+

names: [table]

+

results:

+

- values: [Table2]

+

- values: [Table1]

+
+

Give all the tables.

-
-

Table1 isIn ?room

-
-
-

results:

-

-

-

names: [room]

-

values: [Bedroom]

-
-

Give all the individuals for which the individual 'Table1' is in it.

+
+

Table1 isIn ?room

+
+
+

names: [room]

+

results:

+

- values: [Bedroom]

+
+

Give all the individuals for which the individual 'Table1' is in it.

-
-

?object isA Table. ?object isIn ?room

-
-
-

results:

-

-

-

names: [object, room]

-

values: [Table2, Bedroom]

-

-

-

names: [object, room]

-

values: [Table1, Bedroom]

-
-

Give all the individuals that are tables and the room in which they are.

+
+

?object isA Table. ?object isIn ?room

+
+
+

names: [object, room]

+

results:

+

- values: [Table2, LivingRoom]

+

- values: [Table1, Bedroom]

+
+

Give all the individuals that are tables and the room in which they are.

-

Query with negation

-
-

?object isA Table NOT EXISTS { ?object isIn LivingRoom }

-
-
-

results:

-

-

-

names: [object]

-

values: [Table1]

-
-

Give all the individuals that are tables and not in the living room.

+

Query with negation

+
+

?object isA Table NOT EXISTS { ?object isIn LivingRoom }

+
+
+

names: [object]

+

results:

+

- values: [Table1]

+
+

Give all the individuals that are tables and not in the living room.

diff --git a/docs/python_API/SparqlIndexClient.html b/docs/python_API/SparqlIndexClient.html index 482aed68..2ed9f1f6 100644 --- a/docs/python_API/SparqlIndexClient.html +++ b/docs/python_API/SparqlIndexClient.html @@ -134,7 +134,7 @@

Methods

- +
__init__(self, name)
OntologeniusSparqlIndexResponse[] call(self, query)
(str[], OntologeniusSparqlIndexResponse[]) call(self, query)
From dcc1901396392f53e081df9b9b5f5ec892cde98c Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Fri, 8 Sep 2023 18:37:09 +0200 Subject: [PATCH 14/18] [Sparql] change internal structure --- .../core/ontologyOperators/Sparql.h | 16 +- .../core/ontologyOperators/SparqlUtils.h | 75 +++++- src/core/ontologyOperators/Sparql.cpp | 232 ++++++++---------- src/core/ontologyOperators/SparqlSolver.cpp | 32 +-- src/interface/RosInterfaceIndexHandlers.cpp | 14 +- src/interface/RosInterfaceStringHandlers.cpp | 14 +- src/tests/sparql.cpp | 14 +- 7 files changed, 210 insertions(+), 187 deletions(-) diff --git a/include/ontologenius/core/ontologyOperators/Sparql.h b/include/ontologenius/core/ontologyOperators/Sparql.h index de797ead..1224e706 100644 --- a/include/ontologenius/core/ontologyOperators/Sparql.h +++ b/include/ontologenius/core/ontologyOperators/Sparql.h @@ -17,8 +17,8 @@ class Sparql Sparql(); void link(Ontology* onto) { onto_ = onto; } - std::vector> runStr(const std::string& query, bool single_same = false); - std::vector> runIndex(const std::string& query, bool single_same = false); + std::pair, std::vector>> runStr(const std::string& query, bool single_same = false); + std::pair, std::vector>> runIndex(const std::string& query, bool single_same = false); std::string getError() { return error_; } @@ -29,11 +29,11 @@ class Sparql std::map operators_; bool single_same_; - template std::vector> run(const std::string& query); + template std::pair, std::vector>> run(const std::string& query); - template std::vector> resolve(std::vector> query, SparqlOperator_e op = sparql_none, const std::vector>& prev_res = {}); - template std::vector> resolve(const std::vector>& query, const std::map& accu); - template void resolveSubQuery(triplet_t triplet, const std::map& accu, std::string& var_name, std::unordered_set& values); + template std::vector> resolve(std::vector> query, SparqlOperator_e op, const std::vector>& prev_res); + template std::vector> resolve(const std::vector>& query, const std::vector& accu); + template void resolveSubQuery(triplet_t triplet, const std::vector& accu, int64_t& var_name, std::unordered_set& values); template std::unordered_set getOn(const triplet_t& triplet, const T& selector); template std::unordered_set getFrom(const triplet_t& triplet, const T& selector); @@ -46,8 +46,8 @@ class Sparql std::vector getBlocks(std::string query); template std::vector> getTriplets(const std::string& query, const std::string& delim); - template void mergeNoOp(const std::map& base, std::vector>& res); - template void mergeNotExists(const std::map& base, std::vector>& res); + template void mergeNoOp(const std::vector& base, std::vector>& res); + template void mergeNotExists(const std::vector& base, std::vector>& res); }; } // namespace ontologenius diff --git a/include/ontologenius/core/ontologyOperators/SparqlUtils.h b/include/ontologenius/core/ontologyOperators/SparqlUtils.h index 6c52d7ae..c6fdc18b 100644 --- a/include/ontologenius/core/ontologyOperators/SparqlUtils.h +++ b/include/ontologenius/core/ontologyOperators/SparqlUtils.h @@ -28,12 +28,26 @@ struct SparqlBlock_t template struct resource_t { + resource_t() : variable_id(-1), + is_variable(false), + regex(false) {} + + static std::unordered_map variables; + static std::vector to_variables; + std::string name; T value; - bool variable; + int64_t variable_id; + bool is_variable; bool regex; }; +template +std::unordered_map resource_t::variables; + +template +std::vector resource_t::to_variables; + template struct triplet_t { @@ -69,12 +83,22 @@ resource_t getResource(std::string resource_txt) if(resource_txt[0] == '?') { - res.variable = true; + res.is_variable = true; resource_txt = resource_txt.substr(1); + auto var_it = resource_t::variables.find(resource_txt); + if(var_it == resource_t::variables.end()) + { + int64_t index = resource_t::variables.size(); + resource_t::variables[resource_txt] = index; + res.variable_id = index; + resource_t::to_variables.push_back(resource_txt); + } + else + res.variable_id = var_it->second; } else { - res.variable = false; + res.is_variable = false; if(resource_txt != "isA") res.value = convertResourceValue(resource_txt); } @@ -101,7 +125,7 @@ triplet_t getTriplet(const std::string& triplet_txt) case 1: res.predicat = resource; break; case 2: res.object = resource; break; default: - if(res.object.variable == false) + if(res.object.is_variable == false) res.object.name += " " + resource.name; else throw "invalid triplet format in : " + triplet_txt; @@ -116,9 +140,9 @@ triplet_t getTriplet(const std::string& triplet_txt) template std::string toString(const triplet_t& triplet) { - return (triplet.subject.variable ? "?" : "") + triplet.subject.name + " " + - (triplet.predicat.variable ? "?" : "") + triplet.predicat.name + " " + - (triplet.object.variable ? "?" : "") + triplet.object.name; + return (triplet.subject.is_variable ? "?" : "") + triplet.subject.name + " " + + (triplet.predicat.is_variable ? "?" : "") + triplet.predicat.name + " " + + (triplet.object.is_variable ? "?" : "") + triplet.object.name; } template @@ -133,6 +157,22 @@ void removeDuplicate(std::vector>& vect) vect.erase(unique(vect.begin(), vect.end(), equalLambda), vect.end()); } +template +std::vector convertVariables(const std::vector& var_names) +{ + std::vector res; + for(auto& var : var_names) + res.push_back(resource_t::variables[var]); + std::sort(res.begin(), res.end()); + return res; +} + +template +void removeDuplicate(std::vector>& vect) +{ + vect.erase(unique(vect.begin(), vect.end()), vect.end()); +} + template void filter(std::vector>& res, const std::vector& vars, bool distinct) { @@ -152,6 +192,27 @@ void filter(std::vector>& res, const std::vector +void filter(std::vector>& res, const std::vector& vars, bool distinct) +{ + if(vars.size()) + { + if(vars[0] == "*") + return; + + std::vector var_index = convertVariables(vars); + + for(auto& sub_res : res) + { + for(auto it = var_index.rbegin(); it != var_index.rend(); ++it) + sub_res.erase(sub_res.begin() + *it); + } + + if(distinct) + removeDuplicate(res); + } +} + } // namespace ontologenius #endif // ONTOLOGENIUS_SPARQLUTILS_H \ No newline at end of file diff --git a/src/core/ontologyOperators/Sparql.cpp b/src/core/ontologyOperators/Sparql.cpp index 1a3fe34a..631e5888 100644 --- a/src/core/ontologyOperators/Sparql.cpp +++ b/src/core/ontologyOperators/Sparql.cpp @@ -12,27 +12,30 @@ namespace ontologenius operators_["NOT EXISTS"] = sparql_not_exists; } - std::vector> Sparql::runStr(const std::string& query, bool single_same) + std::pair, std::vector>> Sparql::runStr(const std::string& query, bool single_same) { single_same_ = single_same; return run(query); } - std::vector> Sparql::runIndex(const std::string& query, bool single_same) + std::pair, std::vector>> Sparql::runIndex(const std::string& query, bool single_same) { single_same_ = single_same; return run(query); } template - std::vector> Sparql::run(const std::string& query) + std::pair, std::vector>> Sparql::run(const std::string& query) { - std::vector> res; + resource_t::variables.clear(); + resource_t::to_variables.clear(); + + std::vector> res; error_ = ""; if(onto_ == nullptr) { error_ = "ontology is undefined"; - return res; + return {{}, {}}; } std::smatch match; @@ -47,42 +50,58 @@ namespace ontologenius auto blocks = getBlocks(pattern); if(error_ != "") - return res; + return {{}, {}}; for(auto& block : blocks) { auto triplets = getTriplets(block.raw, "."); if(error_ != "") - return res; + return {{}, {}}; res = resolve(triplets, block.op, res); } filter(res, vars_to_return, match[1].str() != ""); - return res; + + if(vars_to_return.size()) + { + if(vars_to_return[0] == "*") + return {resource_t::to_variables, res}; + + std::vector var_index = convertVariables(vars_to_return); + std::vector ordered_vars; + for(auto index : var_index) + ordered_vars.push_back(resource_t::to_variables[index]); + return {ordered_vars, res}; + } + else + return {resource_t::to_variables, std::move(res)}; } else { auto triplets = getTriplets(query, ","); if(triplets.size()) - return resolve(triplets); + { + auto values = resolve(triplets, std::vector(resource_t::to_variables.size(), getDefaultSelector())); + return {resource_t::to_variables, std::move(values)}; + } else { Display::error("The query is malformed"); - return {}; + return {{}, {}}; } } } template - std::vector> Sparql::resolve(std::vector> query, SparqlOperator_e op, const std::vector>& prev_res) + std::vector> Sparql::resolve(std::vector> query, SparqlOperator_e op, const std::vector>& prev_res) { - std::vector> res; + std::vector> res; if(prev_res.size()) { for(auto& prev : prev_res) { - std::vector> local_res; + std::vector> local_res; if(query.size()) local_res = resolve(query, prev); @@ -98,113 +117,92 @@ namespace ontologenius } else { - std::map empty_accu; + std::vector empty_accu(resource_t::to_variables.size(), getDefaultSelector()); return resolve(query, empty_accu); } } + // accu keep trak of the varaibles already assigned at a given stage template - std::vector> Sparql::resolve(const std::vector>& query, const std::map& accu) + std::vector> Sparql::resolve(const std::vector>& query, const std::vector& accu) { - std::vector> res; - std::unordered_set values; - std::string var_name; - resolveSubQuery(query[0], accu, var_name, values); + int64_t var_index; + resolveSubQuery(query[0], accu, var_index, values); if(values.size() == 0) - return res; + return {}; if(query.size() > 1) { std::vector> new_query(query.begin() + 1, query.end()); - auto accu_it = accu.find(var_name); - + std::vector> res; res.reserve(values.size()); + std::vector new_accu(accu); for(auto& value : values) { - std::vector> local_res; - std::map new_accu; - if(accu_it != accu.end()) + if(accu[var_index] != getDefaultSelector()) { - if(accu_it->second != value) + if(accu[var_index] != value) continue; - else - new_accu = accu; } else - { - new_accu = accu; - new_accu[var_name] = value; - } + new_accu[var_index] = value; - local_res = resolve(new_query, new_accu); + std::vector> local_res = resolve(new_query, new_accu); if(local_res.size() != 0) { for(auto& lr : local_res) { - lr[var_name] = value; - res.push_back(lr); + lr[var_index] = value; + res.push_back(std::move(lr)); } } } + return res; } else { - res.reserve(values.size()); + std::vector> res(values.size(), std::vector(resource_t::variables.size(), getDefaultSelector())); + size_t cpt = 0; for(auto& value : values) - res.emplace_back(std::initializer_list>{{var_name, value}}); - } - - return res; + res[cpt++][var_index] = value; + return res; + } } template - void Sparql::resolveSubQuery(triplet_t triplet, const std::map& accu, std::string& var_name, std::unordered_set& values) + void Sparql::resolveSubQuery(triplet_t triplet, const std::vector& accu, int64_t& var_index, std::unordered_set& values) { - if(triplet.predicat.variable) + if(triplet.predicat.is_variable) error_ = "predicat can not be a variable in: " + toString(triplet); else if(triplet.predicat.name == "isA") { - if(triplet.subject.variable && !triplet.object.variable) + if(triplet.subject.is_variable && !triplet.object.is_variable) { - var_name = triplet.subject.name; - auto var_it = accu.find(var_name); - if(var_it != accu.end()) - values = getType(triplet, var_it->second); - else - values = getType(triplet, getDefaultSelector()); + var_index = triplet.subject.variable_id; + values = getType(triplet, accu[var_index]); } - else if(!triplet.subject.variable && triplet.object.variable) + else if(!triplet.subject.is_variable && triplet.object.is_variable) { - var_name = triplet.object.name; - auto var_it = accu.find(var_name); - if(var_it != accu.end()) - values = getUp(triplet, var_it->second); - else - values = getUp(triplet, getDefaultSelector()); + var_index = triplet.object.variable_id; + values = getUp(triplet, accu[var_index]); } - else if(triplet.subject.variable && triplet.object.variable) + else if(triplet.subject.is_variable && triplet.object.is_variable) { - var_name = triplet.subject.name; - auto var_it = accu.find(var_name); - if(var_it != accu.end()) + var_index = triplet.subject.variable_id; + if(accu[var_index] != getDefaultSelector()) { - triplet.subject.value = var_it->second; - var_name = triplet.object.name; - var_it = accu.find(var_name); - if(var_it != accu.end()) - values = getUp(triplet, var_it->second); - else - values = getUp(triplet, getDefaultSelector()); + triplet.subject.value = accu[var_index]; + var_index = triplet.object.variable_id; + values = getUp(triplet, accu[var_index]); } else { - var_it = accu.find(triplet.object.name); - if(var_it != accu.end()) + if(accu[triplet.object.variable_id] != getDefaultSelector()) { - triplet.object.value = var_it->second; + triplet.object.value = accu[triplet.object.variable_id]; values = getType(triplet, getDefaultSelector()); } else @@ -217,44 +215,30 @@ namespace ontologenius // The hasLabel has been removed as it does not work with indexes /*else if(triplet.predicat.name == "hasLabel") { - if(triplet.subject.variable && !triplet.object.variable) + if(triplet.subject.is_variable && !triplet.object.is_variable) { - var_name = triplet.subject.name; - auto var_it = accu.find(var_name); - if(var_it != accu.end()) - values = find(triplet, var_it->second); - else - values = find(triplet, getDefaultSelector()); + var_index = triplet.subject.variable_id; + values = find(triplet, accu[var_index]); } - else if(!triplet.subject.variable && triplet.object.variable) + else if(!triplet.subject.is_variable && triplet.object.is_variable) { - var_name = triplet.object.name; - auto var_it = accu.find(var_name); - if(var_it != accu.end()) - values = getName(triplet, var_it->second); - else - values = getName(triplet, getDefaultSelector()); + var_index = triplet.object.variable_id; + values = getName(triplet, accu[var_index]); } - else if(triplet.subject.variable && triplet.object.variable) + else if(triplet.subject.is_variable && triplet.object.is_variable) { - var_name = triplet.subject.name; - auto var_it = accu.find(var_name); - if(var_it != accu.end()) + var_index = triplet.subject.variable_id; + if(accu[var_index] != getDefaultSelector()) { - triplet.subject.name = var_it->second; - var_name = triplet.object.name; - var_it = accu.find(var_name); - if(var_it != accu.end()) - values = getName(triplet, var_it->second); - else - values = getName(triplet, getDefaultSelector()); + triplet.subject.name = accu[var_index]; + var_index = triplet.object.variable_id; + values = getName(triplet, accu[var_index]); } else { - var_it = accu.find(triplet.object.name); - if(var_it != accu.end()) + if(accu[triplet.object.name] != getDefaultSelector()) { - triplet.object.name = var_it->second; + triplet.object.name = accu[triplet.object.name]; values = find(triplet, getDefaultSelector()); } else @@ -264,44 +248,30 @@ namespace ontologenius else error_ = "can not resolve query : " + toString(triplet) + " : No variable"; }*/ - else if(triplet.subject.variable && !triplet.object.variable) + else if(triplet.subject.is_variable && !triplet.object.is_variable) { - var_name = triplet.subject.name; - auto var_it = accu.find(var_name); - if(var_it != accu.end()) - values = getFrom(triplet, var_it->second); - else - values = getFrom(triplet, getDefaultSelector()); + var_index = triplet.subject.variable_id; + values = getFrom(triplet, accu[var_index]); } - else if(!triplet.subject.variable && triplet.object.variable) + else if(!triplet.subject.is_variable && triplet.object.is_variable) { - var_name = triplet.object.name; - auto var_it = accu.find(var_name); - if(var_it != accu.end()) - values = getOn(triplet, var_it->second); - else - values = getOn(triplet, getDefaultSelector()); + var_index = triplet.object.variable_id; + values = getOn(triplet, accu[var_index]); } - else if(triplet.subject.variable && triplet.object.variable) + else if(triplet.subject.is_variable && triplet.object.is_variable) { - var_name = triplet.subject.name; - auto var_it = accu.find(var_name); - if(var_it != accu.end()) + var_index = triplet.subject.variable_id; + if(accu[var_index] != getDefaultSelector()) { - triplet.subject.value = var_it->second; - var_name = triplet.object.name; - var_it = accu.find(var_name); - if(var_it != accu.end()) - values = getOn(triplet, var_it->second); - else - values = getOn(triplet, getDefaultSelector()); + triplet.subject.value = accu[var_index]; + var_index = triplet.object.variable_id; + values = getOn(triplet, accu[var_index]); } else { - var_it = accu.find(triplet.object.name); - if(var_it != accu.end()) + if(accu[triplet.object.variable_id] != getDefaultSelector()) { - triplet.object.value = var_it->second; + triplet.object.value = accu[triplet.object.variable_id]; values = getFrom(triplet, getDefaultSelector()); } else @@ -513,20 +483,20 @@ namespace ontologenius } template - void Sparql::mergeNoOp(const std::map& base, std::vector>& res) + void Sparql::mergeNoOp(const std::vector& base, std::vector>& res) { for(auto& r : res) { - for(auto& var : base) + for(size_t i = 0; i < base.size(); i++) { - if(r.find(var.first) == r.end()) - r.insert(var); + if(r[i] == getDefaultSelector()) + r[i] = base[i]; } } } template - void Sparql::mergeNotExists(const std::map& base, std::vector>& res) + void Sparql::mergeNotExists(const std::vector& base, std::vector>& res) { if(res.empty()) res.push_back(base); diff --git a/src/core/ontologyOperators/SparqlSolver.cpp b/src/core/ontologyOperators/SparqlSolver.cpp index 560bb439..cb5db296 100644 --- a/src/core/ontologyOperators/SparqlSolver.cpp +++ b/src/core/ontologyOperators/SparqlSolver.cpp @@ -114,7 +114,7 @@ namespace ontologenius { for(auto& triplet : triplets) { - if(triplet.object.variable) + if(triplet.object.is_variable) { auto constraint_it = solution.variable_constraints_.find(triplet.object.name); if(constraint_it == solution.variable_constraints_.end()) @@ -124,12 +124,12 @@ namespace ontologenius constraint.operator_ = sparql_operator; constraint.triplet_ = triplet; constraint.subject_constraint_ = false; - constraint.leaf_ = !triplet.subject.variable; + constraint.leaf_ = !triplet.subject.is_variable; constraint_it->second.constraints_.push_back(constraint); - if(triplet.subject.variable) + if(triplet.subject.is_variable) constraint_it->second.linked_variales_.insert(triplet.subject.name); } - else if(triplet.subject.variable) + else if(triplet.subject.is_variable) { auto constraint_it = solution.variable_constraints_.find(triplet.subject.name); if(constraint_it == solution.variable_constraints_.end()) @@ -139,10 +139,10 @@ namespace ontologenius constraint.operator_ = sparql_operator; constraint.triplet_ = triplet; constraint.subject_constraint_ = true; - constraint.leaf_ = !triplet.object.variable; + constraint.leaf_ = !triplet.object.is_variable; constraint_it->second.constraints_.push_back(constraint); } - else if(triplet.predicat.variable) + else if(triplet.predicat.is_variable) error_ = "The predicate of a triplet cannot be a variable"; else error_ = "No variable found in the triplet"; @@ -246,11 +246,11 @@ namespace ontologenius std::unordered_set SparqlSolver::solveTriplet(strTriplet_t triplet, const std::map& binding) { - if(triplet.predicat.variable) + if(triplet.predicat.is_variable) error_ = "predicat can not be a variable in: " + toString(triplet); else if(triplet.predicat.name == "isA") { - if(triplet.subject.variable && !triplet.object.variable) + if(triplet.subject.is_variable && !triplet.object.is_variable) { auto var_it = binding.find(triplet.subject.name); if(var_it != binding.end()) @@ -258,7 +258,7 @@ namespace ontologenius else return getType(triplet); } - else if(!triplet.subject.variable && triplet.object.variable) + else if(!triplet.subject.is_variable && triplet.object.is_variable) { auto var_it = binding.find(triplet.object.name); if(var_it != binding.end()) @@ -266,7 +266,7 @@ namespace ontologenius else return getUp(triplet); } - else if(triplet.subject.variable && triplet.object.variable) + else if(triplet.subject.is_variable && triplet.object.is_variable) { auto var_it = binding.find(triplet.subject.name); if(var_it != binding.end()) @@ -295,7 +295,7 @@ namespace ontologenius } else if(triplet.predicat.name == "hasLabel") { - if(triplet.subject.variable && !triplet.object.variable) + if(triplet.subject.is_variable && !triplet.object.is_variable) { auto var_it = binding.find(triplet.subject.name); if(var_it != binding.end()) @@ -303,7 +303,7 @@ namespace ontologenius else return find(triplet); } - else if(!triplet.subject.variable && triplet.object.variable) + else if(!triplet.subject.is_variable && triplet.object.is_variable) { auto var_it = binding.find(triplet.object.name); if(var_it != binding.end()) @@ -311,7 +311,7 @@ namespace ontologenius else return getName(triplet); } - else if(triplet.subject.variable && triplet.object.variable) + else if(triplet.subject.is_variable && triplet.object.is_variable) { auto var_it = binding.find(triplet.subject.name); if(var_it != binding.end()) @@ -338,7 +338,7 @@ namespace ontologenius else error_ = "can not resolve query : " + toString(triplet) + " : No variable"; } - else if(triplet.subject.variable && !triplet.object.variable) + else if(triplet.subject.is_variable && !triplet.object.is_variable) { auto var_it = binding.find(triplet.subject.name); if(var_it != binding.end()) @@ -346,7 +346,7 @@ namespace ontologenius else return getFrom(triplet); } - else if(!triplet.subject.variable && triplet.object.variable) + else if(!triplet.subject.is_variable && triplet.object.is_variable) { auto var_it = binding.find(triplet.object.name); if(var_it != binding.end()) @@ -354,7 +354,7 @@ namespace ontologenius else return getOn(triplet); } - else if(triplet.subject.variable && triplet.object.variable) + else if(triplet.subject.is_variable && triplet.object.is_variable) { auto var_it = binding.find(triplet.subject.name); if(var_it != binding.end()) diff --git a/src/interface/RosInterfaceIndexHandlers.cpp b/src/interface/RosInterfaceIndexHandlers.cpp index e89ca536..366c99e0 100644 --- a/src/interface/RosInterfaceIndexHandlers.cpp +++ b/src/interface/RosInterfaceIndexHandlers.cpp @@ -370,20 +370,16 @@ bool RosInterface::individualIndexHandle(ontologenius::OntologeniusIndexService: bool RosInterface::sparqlIndexHandle(ontologenius::OntologeniusSparqlIndexService::Request& req, ontologenius::OntologeniusSparqlIndexService::Response& res) { - std::vector> results = sparql_.runIndex(req.query); + std::pair, std::vector>> results = sparql_.runIndex(req.query); - if(results.size()) - { - auto first = results.front(); - for(auto& r : first) - res.names.push_back(r.first); - } + if(results.second.size()) + res.names = results.first; - for(auto& result : results) + for(auto& result : results.second) { ontologenius::OntologeniusSparqlIndexResponse tmp; for(auto& r : result) - tmp.values.push_back(r.second); + tmp.values.push_back(r); res.results.push_back(tmp); } diff --git a/src/interface/RosInterfaceStringHandlers.cpp b/src/interface/RosInterfaceStringHandlers.cpp index 13dbf950..17de2a8b 100644 --- a/src/interface/RosInterfaceStringHandlers.cpp +++ b/src/interface/RosInterfaceStringHandlers.cpp @@ -370,20 +370,16 @@ bool RosInterface::individualHandle(ontologenius::OntologeniusService::Request bool RosInterface::sparqlHandle(ontologenius::OntologeniusSparqlService::Request &req, ontologenius::OntologeniusSparqlService::Response &res) { - std::vector> results = sparql_.runStr(req.query); + std::pair, std::vector>> results = sparql_.runStr(req.query); - if(results.size()) - { - auto first = results.front(); - for(auto& r : first) - res.names.push_back(r.first); - } + if(results.second.size()) + res.names = results.first; - for(auto& result : results) + for(auto& result : results.second) { ontologenius::OntologeniusSparqlResponse tmp; for(auto& r : result) - tmp.values.push_back(r.second); + tmp.values.push_back(r); res.results.push_back(tmp); } diff --git a/src/tests/sparql.cpp b/src/tests/sparql.cpp index 90561278..1ff271fd 100644 --- a/src/tests/sparql.cpp +++ b/src/tests/sparql.cpp @@ -101,28 +101,28 @@ std::vector> runSparqlSolver(ontologenius::Sp return solutions; } -std::vector> runSparqlBase(ontologenius::Sparql& solver, const std::string& query) +std::vector> runSparqlBase(ontologenius::Sparql& solver, const std::string& query) { high_resolution_clock::time_point t1 = high_resolution_clock::now(); auto solutions = solver.runStr(query); high_resolution_clock::time_point t2 = high_resolution_clock::now(); duration time_span = duration_cast>(t2 - t1); - std::cout << "Sparql has found " << solutions.size() << " solutions in " << time_span.count()*1000 << "ms" << std::endl; + std::cout << "Sparql has found " << solutions.second.size() << " solutions in " << time_span.count()*1000 << "ms" << std::endl; - return solutions; + return solutions.second; } -std::vector> runSparqlBaseIndex(ontologenius::Sparql& solver, const std::string& query) +std::vector> runSparqlBaseIndex(ontologenius::Sparql& solver, const std::string& query) { high_resolution_clock::time_point t1 = high_resolution_clock::now(); auto solutions = solver.runIndex(query); high_resolution_clock::time_point t2 = high_resolution_clock::now(); duration time_span = duration_cast>(t2 - t1); - std::cout << "Sparql index has found " << solutions.size() << " solutions in " << time_span.count()*1000 << "ms" << std::endl; + std::cout << "Sparql index has found " << solutions.second.size() << " solutions in " << time_span.count()*1000 << "ms" << std::endl; - return solutions; + return solutions.second; } void configureInterface(ontologenius::RosInterface& interface) @@ -220,4 +220,4 @@ int main(int argc, char** argv) onto_thread.join(); return 0; -} +} \ No newline at end of file From e6c849052ac1f330b48f6361ecc7f437a2d940c6 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Sun, 10 Sep 2023 19:09:20 +0200 Subject: [PATCH 15/18] [SparqlUtils] fix missing include --- include/ontologenius/core/ontologyOperators/SparqlUtils.h | 1 + 1 file changed, 1 insertion(+) diff --git a/include/ontologenius/core/ontologyOperators/SparqlUtils.h b/include/ontologenius/core/ontologyOperators/SparqlUtils.h index c6fdc18b..36705463 100644 --- a/include/ontologenius/core/ontologyOperators/SparqlUtils.h +++ b/include/ontologenius/core/ontologyOperators/SparqlUtils.h @@ -4,6 +4,7 @@ #include #include #include +#include #include "ontologenius/utils/String.h" #include "ontologenius/core/ontoGraphs/Branchs/ValuedNode.h" From 26a89576bc2fa53a847766186c11adce47e7dc28 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Sun, 10 Sep 2023 19:11:04 +0200 Subject: [PATCH 16/18] set to V0.3.1 --- README.md | 2 +- docs/Download.html | 27 ++++++++++++++++++- docs/InstallOntologenius.html | 2 +- docs/Publications.html | 2 +- docs/SetUp.html | 4 +-- docs/cpp_API/ActionClient.html | 2 +- docs/cpp_API/ClassClient.html | 2 +- docs/cpp_API/ClassIndexClient.html | 2 +- docs/cpp_API/ClientBase.html | 2 +- docs/cpp_API/ClientBaseIndex.html | 2 +- docs/cpp_API/ConversionClient.html | 2 +- docs/cpp_API/CppAPI.html | 2 +- docs/cpp_API/DataPropertyClient.html | 2 +- docs/cpp_API/DataPropertyIndexClient.html | 2 +- docs/cpp_API/FeederPublisher.html | 2 +- docs/cpp_API/IndividualClient.html | 2 +- docs/cpp_API/IndividualIndexClient.html | 2 +- docs/cpp_API/ManagerClient.html | 2 +- docs/cpp_API/ObjectPropertyClient.html | 2 +- docs/cpp_API/ObjectPropertyIndexClient.html | 2 +- docs/cpp_API/OntologiesManipulator.html | 2 +- docs/cpp_API/OntologyClient.html | 2 +- docs/cpp_API/OntologyIndexClient.html | 2 +- docs/cpp_API/OntologyManipulator.html | 2 +- docs/cpp_API/OntologyManipulatorIndex.html | 2 +- docs/cpp_API/ReasonerClient.html | 2 +- docs/cpp_API/SparqlClient.html | 2 +- docs/cpp_API/SparqlIndexClient.html | 2 +- docs/cpp_Tutorials/Tutorials.html | 2 +- docs/index.html | 6 ++--- docs/overview/launchers.html | 2 +- docs/overview/ontoloGUI.html | 2 +- docs/overview/reasonersConfiguration.html | 2 +- docs/python_API/ActionClient.html | 2 +- docs/python_API/ClassClient.html | 2 +- docs/python_API/ClassIndexClient.html | 2 +- docs/python_API/ClientBase.html | 2 +- docs/python_API/ClientBaseIndex.html | 2 +- docs/python_API/ConversionClient.html | 2 +- docs/python_API/DataPropertyClient.html | 2 +- docs/python_API/DataPropertyIndexClient.html | 2 +- docs/python_API/FeederPublisher.html | 2 +- docs/python_API/IndividualClient.html | 2 +- docs/python_API/IndividualIndexClient.html | 2 +- docs/python_API/ManagerClient.html | 2 +- docs/python_API/ObjectPropertyClient.html | 2 +- .../python_API/ObjectPropertyIndexClient.html | 2 +- docs/python_API/OntologiesManipulator.html | 2 +- docs/python_API/OntologyClient.html | 2 +- docs/python_API/OntologyIndexClient.html | 2 +- docs/python_API/OntologyManipulator.html | 2 +- docs/python_API/OntologyManipulatorIndex.html | 2 +- docs/python_API/PythonAPI.html | 2 +- docs/python_API/ReasonerClient.html | 2 +- docs/python_API/SparqlClient.html | 2 +- docs/python_API/SparqlIndexClient.html | 2 +- docs/python_Tutorials/Tutorials.html | 2 +- package.xml | 2 +- 58 files changed, 86 insertions(+), 61 deletions(-) diff --git a/README.md b/README.md index f441966b..831dce93 100644 --- a/README.md +++ b/README.md @@ -21,4 +21,4 @@ On this launcher file, you will find an argument indicating the path to the onto You can add your own ontology files in the argument if you want them to be loaded at the beginning of the program. [Release-Url]: https://sarthou.github.io/ontologenius/ -[Release-image]: http://img.shields.io/badge/release-v0.3.0-1eb0fc.svg +[Release-image]: http://img.shields.io/badge/release-v0.3.1-1eb0fc.svg diff --git a/docs/Download.html b/docs/Download.html index 57b731d4..f58faac9 100644 --- a/docs/Download.html +++ b/docs/Download.html @@ -1,7 +1,7 @@ - Download | Ontologenius 0.3.0 + Download | Ontologenius 0.3.1 @@ -90,6 +90,31 @@

Download

You have below the archives of the major versions of Ontologenius:

+

V0.3.1

+

XX / XX / 2023

+ + +

V0.3.0

01 / 08 / 2023

diff --git a/docs/InstallOntologenius.html b/docs/InstallOntologenius.html index 84b5c569..71e2d0ac 100644 --- a/docs/InstallOntologenius.html +++ b/docs/InstallOntologenius.html @@ -1,7 +1,7 @@ - Install | Ontologenius 0.3.0 + Install | Ontologenius 0.3.1 diff --git a/docs/Publications.html b/docs/Publications.html index 2caa21c3..2df55f35 100644 --- a/docs/Publications.html +++ b/docs/Publications.html @@ -1,7 +1,7 @@ - Publications | Ontologenius 0.3.0 + Publications | Ontologenius 0.3.1 diff --git a/docs/SetUp.html b/docs/SetUp.html index 001f0990..a98026c4 100644 --- a/docs/SetUp.html +++ b/docs/SetUp.html @@ -1,7 +1,7 @@ - Set up | Ontologenius 0.3.0 + Set up | Ontologenius 0.3.1 @@ -132,7 +132,7 @@

Set Up Your Environnement

The package.xml does not need to be modified. For the CMakeLists.txt, we will require a minimal version (optional) and include ontologenius API.

-
find_package(ontologenius 0.3.0 REQUIRED)
+
find_package(ontologenius 0.3.1 REQUIRED)
...
catkin_package(
# INCLUDE_DIRS include
diff --git a/docs/cpp_API/ActionClient.html b/docs/cpp_API/ActionClient.html index 452d1a1e..7dae5058 100644 --- a/docs/cpp_API/ActionClient.html +++ b/docs/cpp_API/ActionClient.html @@ -1,7 +1,7 @@ - ActionClient Class (cpp) | Ontologenius 0.3.0 + ActionClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/ClassClient.html b/docs/cpp_API/ClassClient.html index 0cbb7c3d..18216c3f 100644 --- a/docs/cpp_API/ClassClient.html +++ b/docs/cpp_API/ClassClient.html @@ -1,7 +1,7 @@ - ClassClient Class (cpp) | Ontologenius 0.3.0 + ClassClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/ClassIndexClient.html b/docs/cpp_API/ClassIndexClient.html index 8d1cc03a..72215220 100644 --- a/docs/cpp_API/ClassIndexClient.html +++ b/docs/cpp_API/ClassIndexClient.html @@ -1,7 +1,7 @@ - ClassIndexClient Class (cpp) | Ontologenius 0.3.0 + ClassIndexClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/ClientBase.html b/docs/cpp_API/ClientBase.html index 7d2285f8..257a0788 100644 --- a/docs/cpp_API/ClientBase.html +++ b/docs/cpp_API/ClientBase.html @@ -1,7 +1,7 @@ - ClientBase Class (cpp) | Ontologenius 0.3.0 + ClientBase Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/ClientBaseIndex.html b/docs/cpp_API/ClientBaseIndex.html index 63537c49..e72ab4d8 100644 --- a/docs/cpp_API/ClientBaseIndex.html +++ b/docs/cpp_API/ClientBaseIndex.html @@ -1,7 +1,7 @@ - ClientBaseIndex Class (cpp) | Ontologenius 0.3.0 + ClientBaseIndex Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/ConversionClient.html b/docs/cpp_API/ConversionClient.html index 4aac0c35..5d668da3 100644 --- a/docs/cpp_API/ConversionClient.html +++ b/docs/cpp_API/ConversionClient.html @@ -1,7 +1,7 @@ - ConversionClient Class (cpp) | Ontologenius 0.3.0 + ConversionClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/CppAPI.html b/docs/cpp_API/CppAPI.html index d6737ac1..9d198097 100644 --- a/docs/cpp_API/CppAPI.html +++ b/docs/cpp_API/CppAPI.html @@ -1,7 +1,7 @@ - C++ API (cpp) | Ontologenius 0.3.0 + C++ API (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/DataPropertyClient.html b/docs/cpp_API/DataPropertyClient.html index 1de52307..e795bb2b 100644 --- a/docs/cpp_API/DataPropertyClient.html +++ b/docs/cpp_API/DataPropertyClient.html @@ -1,7 +1,7 @@ - DataPropertyClient Class (cpp) | Ontologenius 0.3.0 + DataPropertyClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/DataPropertyIndexClient.html b/docs/cpp_API/DataPropertyIndexClient.html index 306f1bee..5168fdcb 100644 --- a/docs/cpp_API/DataPropertyIndexClient.html +++ b/docs/cpp_API/DataPropertyIndexClient.html @@ -1,7 +1,7 @@ - DataPropertyIndexClient Class (cpp) | Ontologenius 0.3.0 + DataPropertyIndexClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/FeederPublisher.html b/docs/cpp_API/FeederPublisher.html index 5c4f96a0..6a1f1de2 100644 --- a/docs/cpp_API/FeederPublisher.html +++ b/docs/cpp_API/FeederPublisher.html @@ -1,7 +1,7 @@ - FeederPublisher Class (cpp) | Ontologenius 0.3.0 + FeederPublisher Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/IndividualClient.html b/docs/cpp_API/IndividualClient.html index f703945a..e8b60f0d 100644 --- a/docs/cpp_API/IndividualClient.html +++ b/docs/cpp_API/IndividualClient.html @@ -1,7 +1,7 @@ - IndividualClient Class (cpp) | Ontologenius 0.3.0 + IndividualClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/IndividualIndexClient.html b/docs/cpp_API/IndividualIndexClient.html index a21422d9..2bda52bb 100644 --- a/docs/cpp_API/IndividualIndexClient.html +++ b/docs/cpp_API/IndividualIndexClient.html @@ -1,7 +1,7 @@ - IndividualIndexClient Class (cpp) | Ontologenius 0.3.0 + IndividualIndexClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/ManagerClient.html b/docs/cpp_API/ManagerClient.html index c75e7f22..ac38bd3c 100644 --- a/docs/cpp_API/ManagerClient.html +++ b/docs/cpp_API/ManagerClient.html @@ -1,7 +1,7 @@ - ManagerClient Class (cpp) | Ontologenius 0.3.0 + ManagerClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/ObjectPropertyClient.html b/docs/cpp_API/ObjectPropertyClient.html index 59e8e9c2..e2bb84bd 100644 --- a/docs/cpp_API/ObjectPropertyClient.html +++ b/docs/cpp_API/ObjectPropertyClient.html @@ -1,7 +1,7 @@ - ObjectPropertyClient Class (cpp) | Ontologenius 0.3.0 + ObjectPropertyClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/ObjectPropertyIndexClient.html b/docs/cpp_API/ObjectPropertyIndexClient.html index a430eab0..a5da51f4 100644 --- a/docs/cpp_API/ObjectPropertyIndexClient.html +++ b/docs/cpp_API/ObjectPropertyIndexClient.html @@ -1,7 +1,7 @@ - ObjectPropertyIndexClient Class (cpp) | Ontologenius 0.3.0 + ObjectPropertyIndexClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/OntologiesManipulator.html b/docs/cpp_API/OntologiesManipulator.html index 16de1321..47c98ed2 100644 --- a/docs/cpp_API/OntologiesManipulator.html +++ b/docs/cpp_API/OntologiesManipulator.html @@ -1,7 +1,7 @@ - OntologiesManipulator Class (cpp) | Ontologenius 0.3.0 + OntologiesManipulator Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/OntologyClient.html b/docs/cpp_API/OntologyClient.html index 70ad68f9..f9e39f39 100644 --- a/docs/cpp_API/OntologyClient.html +++ b/docs/cpp_API/OntologyClient.html @@ -1,7 +1,7 @@ - OntologyClient Class (cpp) | Ontologenius 0.3.0 + OntologyClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/OntologyIndexClient.html b/docs/cpp_API/OntologyIndexClient.html index 3938ffc4..78ee0668 100644 --- a/docs/cpp_API/OntologyIndexClient.html +++ b/docs/cpp_API/OntologyIndexClient.html @@ -1,7 +1,7 @@ - OntologyIndexClient Class (cpp) | Ontologenius 0.3.0 + OntologyIndexClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/OntologyManipulator.html b/docs/cpp_API/OntologyManipulator.html index 8098ed51..237f8f03 100644 --- a/docs/cpp_API/OntologyManipulator.html +++ b/docs/cpp_API/OntologyManipulator.html @@ -1,7 +1,7 @@ - OntologyManipulator Class (cpp) | Ontologenius 0.3.0 + OntologyManipulator Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/OntologyManipulatorIndex.html b/docs/cpp_API/OntologyManipulatorIndex.html index aa95f906..7b4894d9 100644 --- a/docs/cpp_API/OntologyManipulatorIndex.html +++ b/docs/cpp_API/OntologyManipulatorIndex.html @@ -1,7 +1,7 @@ - OntologyManipulatorIndex Class (cpp) | Ontologenius 0.3.0 + OntologyManipulatorIndex Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/ReasonerClient.html b/docs/cpp_API/ReasonerClient.html index 94286e69..b93d798f 100644 --- a/docs/cpp_API/ReasonerClient.html +++ b/docs/cpp_API/ReasonerClient.html @@ -1,7 +1,7 @@ - ReasonerClient Class (cpp) | Ontologenius 0.3.0 + ReasonerClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/SparqlClient.html b/docs/cpp_API/SparqlClient.html index 5e1f7282..6ace0dab 100644 --- a/docs/cpp_API/SparqlClient.html +++ b/docs/cpp_API/SparqlClient.html @@ -1,7 +1,7 @@ - SparqlClient Class (cpp) | Ontologenius 0.3.0 + SparqlClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_API/SparqlIndexClient.html b/docs/cpp_API/SparqlIndexClient.html index 3c0539c1..a2dae137 100644 --- a/docs/cpp_API/SparqlIndexClient.html +++ b/docs/cpp_API/SparqlIndexClient.html @@ -1,7 +1,7 @@ - SparqlIndexClient Class (cpp) | Ontologenius 0.3.0 + SparqlIndexClient Class (cpp) | Ontologenius 0.3.1 diff --git a/docs/cpp_Tutorials/Tutorials.html b/docs/cpp_Tutorials/Tutorials.html index 3c432090..e5c28724 100644 --- a/docs/cpp_Tutorials/Tutorials.html +++ b/docs/cpp_Tutorials/Tutorials.html @@ -1,7 +1,7 @@ - Cpp Tutorials | Ontologenius 0.3.0 + Cpp Tutorials | Ontologenius 0.3.1 diff --git a/docs/index.html b/docs/index.html index 3911a4ef..90d6a842 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,7 +1,7 @@ - Ontologenius 0.3.0 + Ontologenius 0.3.1 @@ -101,7 +101,7 @@

A long-term semantic memory for robotic agents

- Download (0.3.0) + Download (0.3.1) github View on Github

@@ -158,7 +158,7 @@

What's New

-

Ontologenius 0.3.0 !

+

Ontologenius 0.3.1 !

Here is a great step, Ontologenius comes in its third major release! diff --git a/docs/overview/launchers.html b/docs/overview/launchers.html index a397ce2c..13f9caf1 100644 --- a/docs/overview/launchers.html +++ b/docs/overview/launchers.html @@ -1,7 +1,7 @@ - Launchers | Ontologenius 0.3.0 + Launchers | Ontologenius 0.3.1 diff --git a/docs/overview/ontoloGUI.html b/docs/overview/ontoloGUI.html index 62d00b07..fa166f14 100644 --- a/docs/overview/ontoloGUI.html +++ b/docs/overview/ontoloGUI.html @@ -1,7 +1,7 @@ - OntoloGUI | Ontologenius 0.3.0 + OntoloGUI | Ontologenius 0.3.1 diff --git a/docs/overview/reasonersConfiguration.html b/docs/overview/reasonersConfiguration.html index 8d6169f5..d024b730 100644 --- a/docs/overview/reasonersConfiguration.html +++ b/docs/overview/reasonersConfiguration.html @@ -1,7 +1,7 @@ - Reasoners configuration | Ontologenius 0.3.0 + Reasoners configuration | Ontologenius 0.3.1 diff --git a/docs/python_API/ActionClient.html b/docs/python_API/ActionClient.html index afd47a79..39150d17 100644 --- a/docs/python_API/ActionClient.html +++ b/docs/python_API/ActionClient.html @@ -1,7 +1,7 @@ - ActionClient Class (python) | Ontologenius 0.3.0 + ActionClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/ClassClient.html b/docs/python_API/ClassClient.html index 81b072bc..ba97321e 100644 --- a/docs/python_API/ClassClient.html +++ b/docs/python_API/ClassClient.html @@ -1,7 +1,7 @@ - ClassClient Class (python) | Ontologenius 0.3.0 + ClassClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/ClassIndexClient.html b/docs/python_API/ClassIndexClient.html index 9fb63bc4..7a7cd385 100644 --- a/docs/python_API/ClassIndexClient.html +++ b/docs/python_API/ClassIndexClient.html @@ -1,7 +1,7 @@ - ClassIndexClient Class (python) | Ontologenius 0.3.0 + ClassIndexClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/ClientBase.html b/docs/python_API/ClientBase.html index 1339348f..10213621 100644 --- a/docs/python_API/ClientBase.html +++ b/docs/python_API/ClientBase.html @@ -1,7 +1,7 @@ - ClientBase Class (python) | Ontologenius 0.3.0 + ClientBase Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/ClientBaseIndex.html b/docs/python_API/ClientBaseIndex.html index 5d3a07d1..dc111209 100644 --- a/docs/python_API/ClientBaseIndex.html +++ b/docs/python_API/ClientBaseIndex.html @@ -1,7 +1,7 @@ - ClientBaseIndex Class (python) | Ontologenius 0.3.0 + ClientBaseIndex Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/ConversionClient.html b/docs/python_API/ConversionClient.html index b5ab90ee..19d04ddb 100644 --- a/docs/python_API/ConversionClient.html +++ b/docs/python_API/ConversionClient.html @@ -1,7 +1,7 @@ - ConversionClient Class (python) | Ontologenius 0.3.0 + ConversionClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/DataPropertyClient.html b/docs/python_API/DataPropertyClient.html index 3a93cf7c..badb291d 100644 --- a/docs/python_API/DataPropertyClient.html +++ b/docs/python_API/DataPropertyClient.html @@ -1,7 +1,7 @@ - DataPropertyClient Class (python) | Ontologenius 0.3.0 + DataPropertyClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/DataPropertyIndexClient.html b/docs/python_API/DataPropertyIndexClient.html index f1d16e7a..3dffe37f 100644 --- a/docs/python_API/DataPropertyIndexClient.html +++ b/docs/python_API/DataPropertyIndexClient.html @@ -1,7 +1,7 @@ - DataPropertyIndexClient Class (python) | Ontologenius 0.3.0 + DataPropertyIndexClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/FeederPublisher.html b/docs/python_API/FeederPublisher.html index 70966da3..1f0a91b6 100644 --- a/docs/python_API/FeederPublisher.html +++ b/docs/python_API/FeederPublisher.html @@ -1,7 +1,7 @@ - FeederPublisher Class (python) | Ontologenius 0.3.0 + FeederPublisher Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/IndividualClient.html b/docs/python_API/IndividualClient.html index f2a8d0a6..f9bfd7c1 100644 --- a/docs/python_API/IndividualClient.html +++ b/docs/python_API/IndividualClient.html @@ -1,7 +1,7 @@ - IndividualClient Class (python) | Ontologenius 0.3.0 + IndividualClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/IndividualIndexClient.html b/docs/python_API/IndividualIndexClient.html index 4df4e8f1..de43fd7e 100644 --- a/docs/python_API/IndividualIndexClient.html +++ b/docs/python_API/IndividualIndexClient.html @@ -1,7 +1,7 @@ - IndividualIndexClient Class (python) | Ontologenius 0.3.0 + IndividualIndexClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/ManagerClient.html b/docs/python_API/ManagerClient.html index 074b484a..592b9f56 100644 --- a/docs/python_API/ManagerClient.html +++ b/docs/python_API/ManagerClient.html @@ -1,7 +1,7 @@ - ManagerClient Class (python) | Ontologenius 0.3.0 + ManagerClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/ObjectPropertyClient.html b/docs/python_API/ObjectPropertyClient.html index a5524eb3..108643b7 100644 --- a/docs/python_API/ObjectPropertyClient.html +++ b/docs/python_API/ObjectPropertyClient.html @@ -1,7 +1,7 @@ - ObjectPropertyClient Class (python) | Ontologenius 0.3.0 + ObjectPropertyClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/ObjectPropertyIndexClient.html b/docs/python_API/ObjectPropertyIndexClient.html index 65ace077..7b522011 100644 --- a/docs/python_API/ObjectPropertyIndexClient.html +++ b/docs/python_API/ObjectPropertyIndexClient.html @@ -1,7 +1,7 @@ - ObjectPropertyIndexClient Class (python) | Ontologenius 0.3.0 + ObjectPropertyIndexClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/OntologiesManipulator.html b/docs/python_API/OntologiesManipulator.html index 6b746ba6..6bd478ea 100644 --- a/docs/python_API/OntologiesManipulator.html +++ b/docs/python_API/OntologiesManipulator.html @@ -1,7 +1,7 @@ - OntologiesManipulator Class (python) | Ontologenius 0.3.0 + OntologiesManipulator Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/OntologyClient.html b/docs/python_API/OntologyClient.html index e7b8a824..50321074 100644 --- a/docs/python_API/OntologyClient.html +++ b/docs/python_API/OntologyClient.html @@ -1,7 +1,7 @@ - OntologyClient Class (python) | Ontologenius 0.3.0 + OntologyClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/OntologyIndexClient.html b/docs/python_API/OntologyIndexClient.html index 954ab1e6..b35e0252 100644 --- a/docs/python_API/OntologyIndexClient.html +++ b/docs/python_API/OntologyIndexClient.html @@ -1,7 +1,7 @@ - OntologyIndexClient Class (python) | Ontologenius 0.3.0 + OntologyIndexClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/OntologyManipulator.html b/docs/python_API/OntologyManipulator.html index 7e1d0467..e2ab7127 100644 --- a/docs/python_API/OntologyManipulator.html +++ b/docs/python_API/OntologyManipulator.html @@ -1,7 +1,7 @@ - OntologyManipulator Class (python) | Ontologenius 0.3.0 + OntologyManipulator Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/OntologyManipulatorIndex.html b/docs/python_API/OntologyManipulatorIndex.html index 4c425ab7..6a8f41a0 100644 --- a/docs/python_API/OntologyManipulatorIndex.html +++ b/docs/python_API/OntologyManipulatorIndex.html @@ -1,7 +1,7 @@ - OntologyManipulatorIndex Class (python) | Ontologenius 0.3.0 + OntologyManipulatorIndex Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/PythonAPI.html b/docs/python_API/PythonAPI.html index 5a1ffc67..bef1425c 100644 --- a/docs/python_API/PythonAPI.html +++ b/docs/python_API/PythonAPI.html @@ -1,7 +1,7 @@ - Python API (python) | Ontologenius 0.3.0 + Python API (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/ReasonerClient.html b/docs/python_API/ReasonerClient.html index c1364cec..01468782 100644 --- a/docs/python_API/ReasonerClient.html +++ b/docs/python_API/ReasonerClient.html @@ -1,7 +1,7 @@ - ReasonerClient Class (python) | Ontologenius 0.3.0 + ReasonerClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/SparqlClient.html b/docs/python_API/SparqlClient.html index 8d804722..dbe0772b 100644 --- a/docs/python_API/SparqlClient.html +++ b/docs/python_API/SparqlClient.html @@ -1,7 +1,7 @@ - SparqlClient Class (python) | Ontologenius 0.3.0 + SparqlClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_API/SparqlIndexClient.html b/docs/python_API/SparqlIndexClient.html index 2ed9f1f6..304ed64e 100644 --- a/docs/python_API/SparqlIndexClient.html +++ b/docs/python_API/SparqlIndexClient.html @@ -1,7 +1,7 @@ - SparqlIndexClient Class (python) | Ontologenius 0.3.0 + SparqlIndexClient Class (python) | Ontologenius 0.3.1 diff --git a/docs/python_Tutorials/Tutorials.html b/docs/python_Tutorials/Tutorials.html index fe6c78f3..ea78055d 100644 --- a/docs/python_Tutorials/Tutorials.html +++ b/docs/python_Tutorials/Tutorials.html @@ -1,7 +1,7 @@ - Python Tutorials | Ontologenius 0.3.0 + Python Tutorials | Ontologenius 0.3.1 diff --git a/package.xml b/package.xml index 302ae348..04b087ad 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ ontologenius - 0.3.0 + 0.3.1 The ontologenius package srth From a9d51e026ad0f5884bdb1c8a45fd39993a2b4d02 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Sun, 10 Sep 2023 19:34:04 +0200 Subject: [PATCH 17/18] [Launch] launch files with tcmalloc_path argument --- launch/ontologenius.launch | 4 ++++ launch/ontologenius_empty.launch | 4 ++++ launch/ontologenius_full.launch | 3 +++ launch/ontologenius_multi.launch | 4 ++++ launch/ontologenius_multi_empty.launch | 2 ++ launch/ontologenius_multi_full.launch | 4 ++++ launch/ontologenius_sparql.launch | 3 +++ launch/ontologenius_valgrind.launch | 1 + 8 files changed, 25 insertions(+) diff --git a/launch/ontologenius.launch b/launch/ontologenius.launch index a1de2f49..47926414 100644 --- a/launch/ontologenius.launch +++ b/launch/ontologenius.launch @@ -10,6 +10,10 @@ $(find ontologenius)/files/positionProperty.owl $(find ontologenius)/files/testIndividuals.owl "/> + + + + diff --git a/launch/ontologenius_empty.launch b/launch/ontologenius_empty.launch index f9aecf9b..16d90202 100644 --- a/launch/ontologenius_empty.launch +++ b/launch/ontologenius_empty.launch @@ -4,6 +4,10 @@ + + + + diff --git a/launch/ontologenius_full.launch b/launch/ontologenius_full.launch index 60dd9e33..d163d528 100644 --- a/launch/ontologenius_full.launch +++ b/launch/ontologenius_full.launch @@ -10,6 +10,9 @@ $(find ontologenius)/files/positionProperty.owl $(find ontologenius)/files/testIndividuals.owl "/> + + + diff --git a/launch/ontologenius_multi.launch b/launch/ontologenius_multi.launch index d41a192a..d59b444e 100644 --- a/launch/ontologenius_multi.launch +++ b/launch/ontologenius_multi.launch @@ -12,6 +12,10 @@ $(find ontologenius)/files/positionProperty.owl $(find ontologenius)/files/testIndividuals.owl "/> + + + + diff --git a/launch/ontologenius_multi_empty.launch b/launch/ontologenius_multi_empty.launch index d376fc00..1db0e013 100644 --- a/launch/ontologenius_multi_empty.launch +++ b/launch/ontologenius_multi_empty.launch @@ -6,7 +6,9 @@ + + diff --git a/launch/ontologenius_multi_full.launch b/launch/ontologenius_multi_full.launch index 1d4db48c..316f90bb 100644 --- a/launch/ontologenius_multi_full.launch +++ b/launch/ontologenius_multi_full.launch @@ -12,6 +12,10 @@ $(find ontologenius)/files/positionProperty.owl $(find ontologenius)/files/testIndividuals.owl "/> + + + + diff --git a/launch/ontologenius_sparql.launch b/launch/ontologenius_sparql.launch index d52596dd..9a5972c7 100644 --- a/launch/ontologenius_sparql.launch +++ b/launch/ontologenius_sparql.launch @@ -8,6 +8,9 @@ /home/gsarthou/Robots/Pr2/Dacobot/catkin_ws/src/referring_expression_generation/resources/ontology/tests/linkdmdb/linkdmdb.ttl /home/gsarthou/Robots/Pr2/Dacobot/catkin_ws/src/referring_expression_generation/resources/ontology/tests/linkdmdb/foaf.owl "/> + + + diff --git a/launch/ontologenius_valgrind.launch b/launch/ontologenius_valgrind.launch index fed29283..87c71630 100644 --- a/launch/ontologenius_valgrind.launch +++ b/launch/ontologenius_valgrind.launch @@ -8,6 +8,7 @@ $(find ontologenius)/files/positionProperty.owl $(find ontologenius)/files/testIndividuals.owl "/> + From 8d96865e341dc1894f426e125a06c0563290fa26 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Sun, 10 Sep 2023 19:38:25 +0200 Subject: [PATCH 18/18] [Doc] tcmalloc argument --- docs/InstallOntologenius.html | 14 ++++++++++++++ docs/overview/launchers.html | 6 ++++++ 2 files changed, 20 insertions(+) diff --git a/docs/InstallOntologenius.html b/docs/InstallOntologenius.html index 71e2d0ac..5766d176 100644 --- a/docs/InstallOntologenius.html +++ b/docs/InstallOntologenius.html @@ -144,6 +144,20 @@

Test Ontologenius installation

+

Improve performaces

+ +

If you really need huge performaces, you can use the tcmalloc library which provide custom allocators.

+ +
+

sudo apt install libtcmalloc-minimal4

+
+ +

You can now use the dedicated ontologenius launch argument by providing the path toward the tcmalloc library. To find the path use the following:

+ +
+

find /usr -name *tcmalloc*

+
+
diff --git a/docs/overview/launchers.html b/docs/overview/launchers.html index 13f9caf1..23fbfecc 100644 --- a/docs/overview/launchers.html +++ b/docs/overview/launchers.html @@ -225,6 +225,12 @@

Launch files

All the internal files are setted to : $(find ontologenius)/file_intern/ontologenius.owl
Empty launchers have no files to load.

+

Advanced use

+ +

All launch files have an additional argument called tcmalloc_path which is used to locally set the LD_PRELOAD env variable in order to use custom allocators. + If you prefer other allocator than tcmalloc (like jemalloc) tou can use the same argument. +

+