ActionSingleJointMultipleTips.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 ACTIONSINGLEJOINTMULTIPLETIPS_H
#define ACTIONSINGLEJOINTMULTIPLETIPS_H

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

namespace ROSEE {
    
class ActionSingleJointMultipleTips : public ActionPrimitive {
    
public:
    
    typedef std::map < std::string, ActionSingleJointMultipleTips > Map;
    
    ActionSingleJointMultipleTips();

    ActionSingleJointMultipleTips(std::string actionName, unsigned int nFingers);
    ActionSingleJointMultipleTips (std::string actionName, std::vector<std::string> fingers, std::string jointName, JointPos jpFurther, JointPos jpNearer);
    
    std::vector < JointPos > getAllJointPos() const override;
    
    JointPos getJointPos () const override;
    
    std::set < std::string> getKeyElements () const override;

    JointPos getJointPosFurther () const;
    JointPos getJointPosNearer () const;
    std::string getJointName() const;
    
    void print () const override;
    void emitYaml ( YAML::Emitter& out ) const override;
    bool fillFromYaml( YAML::const_iterator yamlIt ) override;
    
private:
    
    JointPos jointPosFurther;
    JointPos jointPosNearer;
    std::string jointInvolved;
};
}

#endif // ACTIONSINGLEJOINTMULTIPLETIPS_H