ActionTrig.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_ACTIONTRIG_H
#define __ROSEE_ACTIONTRIG_H

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

namespace ROSEE {

class ActionTrig : public ActionPrimitive 
{

public:
    
    typedef std::map < std::string, ActionTrig > Map;

    ActionTrig (std::string actionName, ActionPrimitive::Type);
    ActionTrig (std::string actionName, ActionPrimitive::Type, std::string tip, JointPos);
    
    std::vector < JointPos > getAllJointPos() const override;
    
    std::set < std::string> getKeyElements () const override;

    
    JointPos getJointPos () const override;
    void setJointPos (JointPos);

    std::string getFingerInvolved () const;
    void setFingerInvolved ( std::string );

    // we are ok with the default functions of the base class ActionPrimitive
    //void printAction () const override;
    //void emitYaml ( YAML::Emitter&) override;
    bool fillFromYaml( YAML::const_iterator yamlIt ) override;
    
private:
    JointPos jointPos;
};

}

#endif // __ROSEE_ACTIONTRIG_H