MapActionHandler.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 MAPACTIONHANDLER_H
#define MAPACTIONHANDLER_H

#include <string>
#include <map>
#include <set>
#include <memory>

#include <end_effector/YamlWorker.h>
#include <end_effector/Utils.h>

#include <end_effector/GraspingActions/Action.h>
#include <end_effector/GraspingActions/ActionPrimitive.h>
#include <end_effector/GraspingActions/ActionTimed.h>
#include <end_effector/GraspingActions/ActionGeneric.h>



namespace ROSEE {
class MapActionHandler {

public:
    
    typedef std::shared_ptr<MapActionHandler> Ptr;

    MapActionHandler();

    typedef std::map < std::set < std::string >, ROSEE::ActionPrimitive::Ptr > ActionPrimitiveMap;

    bool parseAllPrimitives(std::string pathFolder);
    bool parseAllGenerics(std::string pathFolder);
    bool parseAllTimeds(std::string pathFolder);
    bool parseAllActions(std::string pathFolder);

    /************************************* Generic Functions to get actions *************************/
    std::vector<ActionPrimitiveMap> getPrimitiveMap( ROSEE::ActionPrimitive::Type type ) const;
    
    ActionPrimitiveMap getPrimitiveMap( std::string primitiveName )  const;
    std::map <std::string, ActionPrimitiveMap> getAllPrimitiveMaps () const;
    
    ROSEE::ActionPrimitive::Ptr getPrimitive (std::string primitiveName, std::set<std::string> key) const;
    std::vector<ROSEE::ActionPrimitive::Ptr> getPrimitive (ROSEE::ActionPrimitive::Type, std::set<std::string> key) const;
    ROSEE::ActionPrimitive::Ptr getPrimitive (std::string primitiveName, std::vector<std::string> key) const;
    std::vector<ROSEE::ActionPrimitive::Ptr> getPrimitive (ROSEE::ActionPrimitive::Type, std::vector<std::string> key) const;
    ROSEE::ActionPrimitive::Ptr getPrimitive (std::string primitiveName, std::pair<std::string, std::string> key) const;
    std::vector<ROSEE::ActionPrimitive::Ptr> getPrimitive (ROSEE::ActionPrimitive::Type, std::pair<std::string, std::string> key) const;
    ROSEE::ActionPrimitive::Ptr getPrimitive (std::string primitiveName, std::string key) const;
    std::vector<ROSEE::ActionPrimitive::Ptr> getPrimitive (ROSEE::ActionPrimitive::Type, std::string key) const;
    
    std::shared_ptr<ROSEE::ActionGeneric> getGeneric (std::string name, bool verbose = true) const;
    std::map <std::string, std::shared_ptr<ROSEE::ActionGeneric>> getAllGenerics () const;
    
    std::shared_ptr<ROSEE::ActionTimed> getTimed (std::string name) const;
    std::map <std::string, std::shared_ptr<ROSEE::ActionTimed>> getAllTimeds () const;
    
    /************************************* Specific functions for specific actions *************************/


    std::map <std::string, ROSEE::ActionPrimitive::Ptr> getPrimitiveSingleJointMultipleTipsMap ( unsigned int nFingers ) const;   
    
    ROSEE::Action::Ptr getGrasp ( unsigned int nFingers, std::string graspName = "grasp" ) ;
    
    /************************************* Other functions not returning actions themselves *************************/
    std::set<std::string> getFingertipsForPinch ( std::string finger, ROSEE::ActionPrimitive::Type pinchType) const;
    std::map <std::string, std::set<std::string> > getPinchTightPairsMap ( ) const;
    std::map <std::string, std::set<std::string> > getPinchLoosePairsMap ( ) const;
    
    /***************************** Other *******************************************/
    
    bool insertSingleGeneric(ROSEE::ActionGeneric::Ptr generic);

private:
    
    void findPinchPairsMap();
    
    std::string handName;

    std::map <std::string, ActionPrimitiveMap> primitives;
    std::map <std::string, std::shared_ptr<ROSEE::ActionGeneric>> generics;
    std::map <std::string, std::shared_ptr<ROSEE::ActionTimed>> timeds;
    
    std::map <std::string, std::set<std::string> > pinchTightPairsMap;
    std::map <std::string, std::set<std::string> > pinchLoosePairsMap;


};

} //namespace rosee

#endif // MAPACTIONHANDLER_H