ActionPinchGeneric.h

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/*
 * Copyright (C) 2020 IIT-HHCM
 * Author: Davide Torielli
 * email:  davide.torielli@iit.it
 *
 * 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_ACTIONPINCHGENERIC_H
#define __ROSEE_ACTIONPINCHGENERIC_H

#include <end_effector/GraspingActions/ActionPrimitive.h>
#include <yaml-cpp/yaml.h>
#include <iostream>

namespace ROSEE {
class ActionPinchGeneric : public ActionPrimitive
{
    
public:
    
    ActionPinchGeneric(std::string name, ActionPrimitive::Type type);
    ActionPinchGeneric(std::string name, unsigned int maxStoredActionStates, ActionPrimitive::Type type);
    ActionPinchGeneric(std::string name, unsigned int nFingerInvolved, unsigned int maxStoredActionStates, ActionPrimitive::Type type);
    
    std::set < std::string> getKeyElements () const override;

    

};

}

#endif // __ROSEE_ACTIONPINCHGENERIC_H