EEInterface.h

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/*
 * Copyright (C) 2019 IIT-HHCM
 * Author: Luca Muratore
 * email:  luca.muratore@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_EE_INTERFACE__
#define __ROSEE_EE_INTERFACE__

#include <map>
#include <vector>
#include <memory>

#include <end_effector/Parser.h>

#include <Eigen/Dense>


namespace ROSEE {
    
    class EEInterface {

    public:
        
        typedef std::shared_ptr<EEInterface> Ptr;
        typedef std::shared_ptr<const EEInterface> ConstPtr;
        
        EEInterface( const ROSEE::Parser& p );
        //EEInterface ( const EEInterface& other );
        //EEInterface& operator= ( const EEInterface& p );
        virtual ~EEInterface();
        
        const std::vector<std::string>& getFingers();
        
        bool isFinger( std::string finger_name );
        
        const std::vector<std::string>& getActuatedJoints();
        
        bool getActuatedJointsInFinger( std::string finger_name, std::vector<std::string>& actuated_joints );
        
        int getActuatedJointsNum();
        
        int getActuatedJointsNumInFinger(  std::string finger_name );
        
        Eigen::VectorXd getUpperPositionLimits();
        
        Eigen::VectorXd getLowerPositionLimits();
        
        bool getInternalIdsForFinger( std::string finger_name, std::vector< int >& internal_ids );
        
        bool getInternalIdForJoint ( std::string joint_name, int& internal_id );
        
        int getFingersNumber();
        
        std::string getName();
        
    private:
        
        std::map<std::string, std::vector<std::string>> _ee_description;
        std::map<std::string, urdf::JointConstSharedPtr> _urdf_joint_map;
        
        std::map<std::string, std::vector<int>> _finger_joints_internal_id_map;
        
        std::map<std::string, int> _joints_internal_id_map;
        
        std::vector<std::string> _fingers_names, _actuated_joints;
        
        Eigen::VectorXd _upper_limits, _lower_limits;
        
        std::string _ee_name;
        
        int _joints_num = 0;
        
        
        
    };
    
}

#endif // __ROSEE_EE_INTERFACE__