ActionTimed.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_ACTIONTIMED_H
#define ROSEE_ACTIONTIMED_H

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

namespace ROSEE {

class ActionTimed : public Action
{
public:
    typedef std::shared_ptr<ActionTimed> Ptr;
    typedef std::shared_ptr<const ActionTimed> ConstPtr;
    ActionTimed();
    
    ActionTimed(std::string actionName);

    ~ActionTimed() {};
    
    JointPos getJointPos () const override;
    
    std::vector < ROSEE::JointPos > getAllJointPos () const override;

    std::vector < ROSEE::JointsInvolvedCount > getAllJointCountAction() const;
    
    std::vector < std::pair <double, double> > getAllActionMargins() const;
    
    ROSEE::JointPos getJointPosAction ( std::string actionName ) const ;
    
    std::pair <double, double> getActionMargins ( std::string actionName ) const ;
    
    ROSEE::JointsInvolvedCount getJointCountAction ( std::string actionName ) const;

    std::vector <std::string> getInnerActionsNames() const ;
    void print () const override;
    
    void emitYaml ( YAML::Emitter& out) const override;
    
    bool fillFromYaml(  YAML::const_iterator yamlIt ) override;
    
    bool insertAction ( ROSEE::Action::Ptr action, double marginBefore = 0.0, double marginAfter = 0.0, 
                        unsigned int jointPosIndex = 0, double percentJointPos = 1, std::string newActionName = "");
    
private:
    std::map <std::string, std::pair<double, double> > actionsTimeMarginsMap;
    std::map <std::string, ROSEE::JointPos> actionsJointPosMap;
    std::map <std::string, ROSEE::JointsInvolvedCount> actionsJointCountMap;
    
    ROSEE::JointPos jointPosFinal;
    
    std::vector < std::string > actionsNamesOrdered;

};

}

#endif // ROSEE_ACTIONTIMED_H