ROSEE::Action Class Reference

The pure virtual class representing an Action. More...

#include <Action.h>

Inheritance diagram for ROSEE::Action:

Collaboration diagram for ROSEE::Action:

Public Types
enum	Type {   Primitive,   Generic,   Composed,   Timed,   None }
	Enum useful to discriminate each action when, for example, we want to parse a file if you change this enum, change also the ROSEEControl.msg accordingly. More...
typedef std::shared_ptr< Action >	Ptr
typedef std::shared_ptr< const Action >	ConstPtr

Public Member Functions
virtual	~Action ()
std::string	getName () const
	Get the name of the action. More...
Type	getType () const
std::set< std::string >	getFingersInvolved () const
	Get for fingersInvolved. More...
JointsInvolvedCount	getJointsInvolvedCount () const
	Get for jointsInvolvedCount. More...
virtual JointPos	getJointPos () const =0
	Get the position related to this action. More...
virtual std::vector< ROSEE::JointPos >	getAllJointPos () const =0
	Return all the joint position stored. More...
virtual void	print () const
	Overridable functions, if we want to make them more action-specific. More...
virtual void	emitYaml (YAML::Emitter &out) const =0
	Function to fill the argument passed with info about the action. More...
virtual bool	fillFromYaml (YAML::const_iterator yamlIt)=0
	function to fill members of the Action with infos taken from yaml files More...

Protected Member Functions
	Action ()
	Action (std::string actionName, Action::Type type)

Protected Attributes
std::string	name
Action::Type	type
std::set< std::string >	fingersInvolved
JointsInvolvedCount	jointsInvolvedCount

Detailed Description

The pure virtual class representing an Action.

It has members that are in common to all derived class

Definition at line 71 of file Action.h.

Member Typedef Documentation

typedef std::shared_ptr<const Action> ROSEE::Action::ConstPtr

Definition at line 76 of file Action.h.

typedef std::shared_ptr<Action> ROSEE::Action::Ptr

Definition at line 75 of file Action.h.

Member Enumeration Documentation

enum ROSEE::Action::Type

Enum useful to discriminate each action when, for example, we want to parse a file if you change this enum, change also the ROSEEControl.msg accordingly.

Enumerator
Primitive
Generic
Composed
Timed
None

Definition at line 82 of file Action.h.

{Primitive, Generic, Composed, Timed, None};

Constructor & Destructor Documentation

virtual ROSEE::Action::~Action ( )

inlinevirtual

Definition at line 85 of file Action.h.

{};

ROSEE::Action::Action ( )

protected

Definition at line 106 of file Action.cpp.

                     {

}

ROSEE::Action::Action ( std::string  actionName, Action::Type  type  )

protected

Definition at line 111 of file Action.cpp.

                                                      {
    this->name = name;
    this->type = type;
}

Member Function Documentation

virtual void ROSEE::Action::emitYaml ( YAML::Emitter &  out ) const

pure virtual

Function to fill the argument passed with info about the action.

Pure virtual because each derived class has different infos and stored differently. check YamlWorker to correctly emit and parse the file

Parameters

out	the yaml-cpp emitter which store infos about the action

Note

this function does not print in a file, but simply fill a YAML::Emitter.

Implemented in ROSEE::ActionTimed, ROSEE::ActionPinchLoose, ROSEE::ActionComposed, ROSEE::ActionMultiplePinchTight, ROSEE::ActionSingleJointMultipleTips, ROSEE::ActionPinchTight, ROSEE::ActionGeneric, and ROSEE::ActionPrimitive.

virtual bool ROSEE::Action::fillFromYaml ( YAML::const_iterator  yamlIt )

pure virtual

function to fill members of the Action with infos taken from yaml files

Parameters

yamlIt

a YAML::const_iterator to the node that is loaded with YAML::LoadFile(dirPath + filename). check YamlWorker to correctly parse and emit the file

Implemented in ROSEE::ActionTimed, ROSEE::ActionTrig, ROSEE::ActionComposed, ROSEE::ActionPinchLoose, ROSEE::ActionMultiplePinchTight, ROSEE::ActionGeneric, ROSEE::ActionSingleJointMultipleTips, and ROSEE::ActionPinchTight.

virtual std::vector< ROSEE::JointPos > ROSEE::Action::getAllJointPos ( ) const

pure virtual

Return all the joint position stored.

If the concrete (derived from Action) has only one joint position info, this function is equal to getJointPos.

Returns

vector containing all the joint pos of the action

Implemented in ROSEE::ActionTrig, ROSEE::ActionGeneric, ROSEE::ActionTimed, ROSEE::ActionMultiplePinchTight, ROSEE::ActionSingleJointMultipleTips, ROSEE::ActionPinchLoose, and ROSEE::ActionPinchTight.

std::set< std::string > ROSEE::Action::getFingersInvolved

(

)

const

Get for fingersInvolved.

Returns

std::set<std::string> the set containing all the hand's fingers involved in the action

Definition at line 125 of file Action.cpp.

                                                        {
    return fingersInvolved;
}

virtual JointPos ROSEE::Action::getJointPos ( ) const

pure virtual

Get the position related to this action.

Pure Virtual function: the derived class store this info differently so they are in charge of providing the read.

Returns

JointsPos the map indicating how the position of the joint

Implemented in ROSEE::ActionTrig, ROSEE::ActionSingleJointMultipleTips, ROSEE::ActionGeneric, ROSEE::ActionTimed, ROSEE::ActionMultiplePinchTight, ROSEE::ActionPinchLoose, and ROSEE::ActionPinchTight.

ROSEE::JointsInvolvedCount ROSEE::Action::getJointsInvolvedCount

(

)

const

Get for jointsInvolvedCount.

Returns

JointsInvolvedCount the map indicating how many times the joint is set by the action

Definition at line 130 of file Action.cpp.

                                                                   {
    return jointsInvolvedCount;
}

std::string ROSEE::Action::getName

(

)

const

Get the name of the action.

Returns

std::string the name of the action

Definition at line 116 of file Action.cpp.

                                     {
    return name;
}

ROSEE::Action::Type ROSEE::Action::getType

(

)

const

Definition at line 120 of file Action.cpp.

                                           {
    return type;
}

void ROSEE::Action::print ( ) const

virtual

Overridable functions, if we want to make them more action-specific.

Reimplemented in ROSEE::ActionTimed, ROSEE::ActionPinchLoose, ROSEE::ActionMultiplePinchTight, ROSEE::ActionSingleJointMultipleTips, ROSEE::ActionPinchTight, and ROSEE::ActionComposed.

Definition at line 135 of file Action.cpp.

                               {
    
    std::stringstream output;
    output << "ActionName: " << name << std::endl;
    
    if (fingersInvolved.size() > 0 ){
        output << "FingersInvolved: [";
        for (auto fingName : fingersInvolved){
            output << fingName << ", " ;
        }
        output.seekp (-2, output.cur); //to remove the last comma (and space)
        output << "]" << std::endl;
        
    } else {
        output << "FingersInvolved: <not inserted>" << std::endl; // can happen, for ex for genericAction
    }

    
    output << "JointsInvolvedCount: " << std::endl;;
    output << jointsInvolvedCount << std::endl;
    
    output << "JointPos:" << std::endl;
    output << getJointPos() << std::endl;

    output << std::endl;

    std::cout << output.str();
}

Member Data Documentation

std::set<std::string> ROSEE::Action::fingersInvolved

protected

Definition at line 148 of file Action.h.

JointsInvolvedCount ROSEE::Action::jointsInvolvedCount

protected

Definition at line 149 of file Action.h.

std::string ROSEE::Action::name

protected

Definition at line 146 of file Action.h.

Action::Type ROSEE::Action::type

protected

Definition at line 147 of file Action.h.

---

The documentation for this class was generated from the following files:

• /home/travis/build/ADVRHumanoids/ROSEndEffector/include/end_effector/GraspingActions/Action.h
• /home/travis/build/ADVRHumanoids/ROSEndEffector/src/GraspingActions/Action.cpp