ROSEE::ActionGeneric Class Reference

Class to handle a generic, simple action. More...

#include <ActionGeneric.h>

Inheritance diagram for ROSEE::ActionGeneric:

Collaboration diagram for ROSEE::ActionGeneric:

Public Types
typedef std::shared_ptr< ActionGeneric >	Ptr
typedef std::shared_ptr< const ActionGeneric >	ConstPtr
Public Types inherited from ROSEE::Action
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
	ActionGeneric ()
	default costructor. More...
	ActionGeneric (std::string actionName, ROSEE::JointPos jointPos)
	Simpliest costructor, need only essential infos. More...
	ActionGeneric (std::string actionName, ROSEE::JointPos jointPos, JointsInvolvedCount jic)
	Another costructor. More...
	ActionGeneric (std::string actionName, ROSEE::JointPos jointPos, JointsInvolvedCount jic, std::set< std::string > fingersInvolved)
JointPos	getJointPos () const override
	Get the joint position related to this action, overriden from Action. More...
std::vector< ROSEE::JointPos >	getAllJointPos () const override
	Get the joint position related to this action, overriden from Action Necessary to not make this class abstact, even if for a composed action we store only a single JointPos, so this function return a single element vector. More...
virtual void	emitYaml (YAML::Emitter &out) const override
	Function to fill the argument passed with info about the action. More...
virtual bool	fillFromYaml (YAML::const_iterator yamlIt) override
	function to fill members of the Action with infos taken from yaml files More...
Public Member Functions inherited from ROSEE::Action
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 void	print () const
	Overridable functions, if we want to make them more action-specific. More...

Protected Member Functions
	ActionGeneric (std::string actionName)
	this costructor is only for derived class More...
Protected Member Functions inherited from ROSEE::Action
	Action ()
	Action (std::string actionName, Action::Type type)

Protected Attributes
JointPos	jointPos
Protected Attributes inherited from ROSEE::Action
std::string	name
Action::Type	type
std::set< std::string >	fingersInvolved
JointsInvolvedCount	jointsInvolvedCount

Detailed Description

Class to handle a generic, simple action.

Differently from other class, this is easily creable manually, for ex giving a name and a JointPos map to the costructor. It contains essential infos about the action, and override the necessary pure virtual functions of base class Action

Definition at line 32 of file ActionGeneric.h.

Member Typedef Documentation

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

Definition at line 36 of file ActionGeneric.h.

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

Definition at line 35 of file ActionGeneric.h.

Constructor & Destructor Documentation

ROSEE::ActionGeneric::ActionGeneric

(

)

default costructor.

It is used when parsing a file with YamlWorker,

Warning

If you use this costructor, then you must fill internal structures with fillFromYaml (or using YamlWorker support class), it is the only way to set the internal infos (e.g. there is not a setName( name ) function ). If you have not a Yaml file to parse, use other costructors.

Definition at line 20 of file ActionGeneric.cpp.

{}

ROSEE::ActionGeneric::ActionGeneric	(	std::string	actionName,
		ROSEE::JointPos	jointPos
	)

Simpliest costructor, need only essential infos.

Note

This costructor create jointsInvolvedCount map. To do this, it considers a "not set" joint (count == 0) a joint which pos is 0. If you do not want this, pass also your JointsInvolvedCount map to the costructor

Definition at line 24 of file ActionGeneric.cpp.

                                                                              : Action(actionName, Action::Type::Generic) {
    
    //HACK TODO now consider the position 0 as not used joint
    for (auto jp : jointPos) {
        bool zeros = std::all_of(jp.second.begin(), jp.second.end(), [](double i) { return i==0.0; });
        if (zeros) {
            jointsInvolvedCount.insert (std::make_pair (jp.first, 0) );
        } else {
            jointsInvolvedCount.insert (std::make_pair (jp.first, 1) );

        }
    } 
    
    this->jointPos = jointPos;

}

ROSEE::ActionGeneric::ActionGeneric	(	std::string	actionName,
		ROSEE::JointPos	jointPos,
		JointsInvolvedCount	jic
	)

Another costructor.

Parameters

actionName	the name of this action
jointPos	map containing position of ALL joints of your robot
jic	map of counters of times of joints involved (e.g. joint not used –> 0 ; joint used for the action –> 1)

Exceptions

Be	sure that keys of jointPos and jic are the same, otherwise exception is throw

Definition at line 41 of file ActionGeneric.cpp.

                                                                                                       : 
                            Action(actionName, Action::Type::Generic) {
                      
    if (jic.empty()) {
        //HACK TODO now consider the position 0 as not used joint
        for (auto jp : jointPos) {
            bool zeros = std::all_of(jp.second.begin(), jp.second.end(), [](double i) { return i==0.0; });
            if (zeros) {
                jointsInvolvedCount.insert (std::make_pair (jp.first, 0) );
            } else {
                jointsInvolvedCount.insert (std::make_pair (jp.first, 1) );

            }
        }
        
    } else {
        if ( ! ROSEE::Utils::keys_equal(jointPos, jic) ) {
            throw ROSEE::Utils::DifferentKeysException<ROSEE::JointPos, ROSEE::JointsInvolvedCount>(&jointPos, &jic);
        }     
        this->jointsInvolvedCount = jic;
    }
    
    this->jointPos = jointPos;

}

ROSEE::ActionGeneric::ActionGeneric	(	std::string	actionName,
		ROSEE::JointPos	jointPos,
		JointsInvolvedCount	jic,
		std::set< std::string >	fingersInvolved
	)

Definition at line 68 of file ActionGeneric.cpp.

                                                                     : Action(actionName, Action::Type::Generic) {
    
    if (jic.empty()) {
        //HACK TODO now consider the position 0 as not used joint
        for (auto jp : jointPos) {
            bool zeros = std::all_of(jp.second.begin(), jp.second.end(), [](double i) { return i==0.0; });
            if (zeros) {
                jointsInvolvedCount.insert (std::make_pair (jp.first, 0) );
            } else {
                jointsInvolvedCount.insert (std::make_pair (jp.first, 1) );

            }
        } 
        
    } else {
        
        if ( ! ROSEE::Utils::keys_equal(jointPos, jic) ) {
            throw ROSEE::Utils::DifferentKeysException<ROSEE::JointPos, ROSEE::JointsInvolvedCount>(&jointPos, &jic);
        }
        
        this->jointsInvolvedCount = jic;
    }
    
    this->jointPos = jointPos;

    this->fingersInvolved = fingersInvolved;
}

ROSEE::ActionGeneric::ActionGeneric ( std::string  actionName )

protected

this costructor is only for derived class

Definition at line 22 of file ActionGeneric.cpp.

: Action (actionName, Action::Type::Generic) {}

Member Function Documentation

void ROSEE::ActionGeneric::emitYaml ( YAML::Emitter &  out ) const

overridevirtual

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.

Implements ROSEE::Action.

Reimplemented in ROSEE::ActionComposed.

Definition at line 107 of file ActionGeneric.cpp.

                                                        {
    
    out << YAML::BeginMap << YAML::Key << name << YAML::Value << YAML::BeginMap ;
        out << YAML::Key << "Type" << YAML::Value << type;
        out << YAML::Key << "FingersInvolved" << YAML::Value << YAML::Flow << fingersInvolved;
        out << YAML::Key << "JointsInvolvedCount" << YAML::Value << YAML::BeginMap;
        for (const auto &jointCount : jointsInvolvedCount ) {
            out << YAML::Key << jointCount.first;
            out << YAML::Value << jointCount.second;
        } 
        out << YAML::EndMap;

        out << YAML::Key << "JointPos" << YAML::Value << YAML::BeginMap;
            for (const auto &joint : jointPos) {
                out << YAML::Key << joint.first;
                out << YAML::Value << YAML::Flow << joint.second; //vector of double is emitted like Seq
            }
        out << YAML::EndMap;
    out << YAML::EndMap;
    out << YAML::EndMap;
}

bool ROSEE::ActionGeneric::fillFromYaml ( YAML::const_iterator  yamlIt )

overridevirtual

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

Implements ROSEE::Action.

Reimplemented in ROSEE::ActionComposed.

Definition at line 130 of file ActionGeneric.cpp.

                                                               {
    
    name = yamlIt->first.as<std::string>();
    type = ROSEE::Action::Type::Generic;
            
    for (auto keyValue = yamlIt->second.begin(); keyValue != yamlIt->second.end(); ++keyValue ) {

        std::string key = keyValue->first.as<std::string>();

        if ( key.compare ("FingersInvolved") == 0 ) { 
            // if <not_inserted> tempVect is a empty vector
            auto tempVect = keyValue->second.as <std::vector <std::string> > ();
            fingersInvolved.insert ( tempVect.begin(), tempVect.end() );
            
        } else if ( key.compare ("Type") == 0 ) {
            if (ROSEE::Action::Type::Generic != static_cast<ROSEE::Action::Type> ( keyValue->second.as <unsigned int>() )) {
                std::cout << "[GENERIC ACTION::" << __func__ << "] Error, found type  " << keyValue->second.as <unsigned int>()
                << "instead of generic type (" << ROSEE::Action::Type::Generic << ")" << std::endl;
                return false;
            }
            type = ROSEE::Action::Type::Generic;
            
        } else if ( key.compare ("JointsInvolvedCount") == 0 ) {
            jointsInvolvedCount = keyValue->second.as < JointsInvolvedCount >(); 
            
        } else if ( key.compare ("JointPos") == 0 ) {
            jointPos = keyValue->second.as < JointPos >();
            
        } else {
            std::cout << "[GENERIC ACTION::" << __func__ << "] Error, not known key " << key << std::endl;
            return false;
        }
    } 
    
    if ( ! ROSEE::Utils::keys_equal(jointPos, jointsInvolvedCount) ) {
        throw ROSEE::Utils::DifferentKeysException<ROSEE::JointPos, ROSEE::JointsInvolvedCount>(&jointPos, &jointsInvolvedCount);
    }
    
    return true;
}

std::vector< ROSEE::JointPos > ROSEE::ActionGeneric::getAllJointPos ( ) const

overridevirtual

Get the joint position related to this action, overriden from Action Necessary to not make this class abstact, even if for a composed action we store only a single JointPos, so this function return a single element vector.

Returns

JointsPos the map indicating the position of the joints

Implements ROSEE::Action.

Definition at line 101 of file ActionGeneric.cpp.

                                                                  {
    std::vector < JointPos> vect;
    vect.push_back ( jointPos ) ;
    return vect;
}

ROSEE::JointPos ROSEE::ActionGeneric::getJointPos ( ) const

overridevirtual

Get the joint position related to this action, overriden from Action.

Returns

JointsPos the map indicating the position of the joints

Implements ROSEE::Action.

Definition at line 97 of file ActionGeneric.cpp.

                                                    {
    return jointPos;
}

Member Data Documentation

JointPos ROSEE::ActionGeneric::jointPos

protected

Definition at line 94 of file ActionGeneric.h.

---

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

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