ActionGeneric.h

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/*
 * Copyright 2020 <copyright holder> <email>
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef ROSEE_ACTIONGENERIC_H
#define ROSEE_ACTIONGENERIC_H

#include <end_effector/GraspingActions/Action.h>
#include <yaml-cpp/yaml.h>
#include <end_effector/Utils.h>


namespace ROSEE {

class ActionGeneric :  public Action {
    
public:
    typedef std::shared_ptr<ActionGeneric> Ptr;
    typedef std::shared_ptr<const ActionGeneric> ConstPtr;
    
    ActionGeneric() ;
    ActionGeneric (std::string actionName, ROSEE::JointPos jointPos); 
    
    ActionGeneric (std::string actionName, ROSEE::JointPos jointPos, JointsInvolvedCount jic); 
    ActionGeneric (std::string actionName, ROSEE::JointPos jointPos, JointsInvolvedCount jic, std::set <std::string> fingersInvolved); 
    
    JointPos getJointPos () const override;
    
    std::vector < ROSEE::JointPos > getAllJointPos () const override;
    
    virtual void emitYaml ( YAML::Emitter& out ) const override;
    
    virtual bool fillFromYaml ( YAML::const_iterator yamlIt ) override;
    
protected:
    
    ActionGeneric(std::string actionName) ;
    
    JointPos jointPos;

    
};

}

#endif // ROSEE_ACTIONGENERIC_H