ROSEE::ActionPrimitive Class Reference

Virtual class, Base of all the primitive actions. More...

#include <ActionPrimitive.h>

Inheritance diagram for ROSEE::ActionPrimitive:

Collaboration diagram for ROSEE::ActionPrimitive:

Public Types
enum	Type {   PinchTight,   PinchLoose,   MultiplePinchTight,   Trig,   TipFlex,   FingFlex,   SingleJointMultipleTips,   None }
	Enum useful to discriminate each primitive 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< ActionPrimitive >	Ptr
typedef std::shared_ptr< const ActionPrimitive >	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
virtual	~ActionPrimitive ()
Type	getPrimitiveType () const
unsigned int	getMaxStoredActionStates () const
unsigned int	getnFingersInvolved () const
virtual std::set< std::string >	getKeyElements () const =0
	Depending on the primitive, we can use different "keys" to take info from yaml file when parsing for example, trig and pinches are selected through fingersInvolved, while ActionSingleJointMultipleTips uses the joint name. More...
void	setJointsInvolvedCount (ROSEE::JointsInvolvedCount jointsInvolvedCount)
virtual void	emitYaml (YAML::Emitter &) const override
	Function to fill the argument passed with info about the action. 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 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 bool	fillFromYaml (YAML::const_iterator yamlIt)=0
	function to fill members of the Action with infos taken from yaml files More...

Protected Member Functions
	ActionPrimitive (std::string name, unsigned int maxStoredActionStates, Type type)
	ActionPrimitive (std::string name, unsigned int nFingersInvolved, unsigned int maxStoredActionStates, Type type)
	Protected costructor: object creable only by derived classes. More...
Protected Member Functions inherited from ROSEE::Action
	Action ()
	Action (std::string actionName, Action::Type type)

Protected Attributes
unsigned int	nFingersInvolved
const unsigned int	maxStoredActionStates
const Type	primitiveType
Protected Attributes inherited from ROSEE::Action
std::string	name
Action::Type	type
std::set< std::string >	fingersInvolved
JointsInvolvedCount	jointsInvolvedCount

Detailed Description

Virtual class, Base of all the primitive actions.

It has some implemented functions that a derived class can use, if you don't want to override to make them more action-specific. All the primitives are defined by:

• A set containing a fixed number (nFingersInvolved ) of links/handparts, which are involved in the action. (e.g. two fingertips for a pinch)
• JointStates position: hand configuration for which the 100% action happens. This is a member that all the derived class must have, but it can be store as it is (e.g. trigger) but also in a set (if maxStoredActionStates > 1) or in a set with some other info linked (e.g. in the pinch we have a pair JointPos - Contact stored in the set). So it is not a member of this base class
• Optional info about the action (e.g. a moveit Contact class for the pinch). Being optional, we don't have a member for this in this base class

Definition at line 48 of file ActionPrimitive.h.

Member Typedef Documentation

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

Definition at line 54 of file ActionPrimitive.h.

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

Definition at line 53 of file ActionPrimitive.h.

Member Enumeration Documentation

enum ROSEE::ActionPrimitive::Type

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

Enumerator
PinchTight
PinchLoose
MultiplePinchTight
Trig
TipFlex
FingFlex
SingleJointMultipleTips
None

Definition at line 60 of file ActionPrimitive.h.

{PinchTight, PinchLoose, MultiplePinchTight, Trig, TipFlex, FingFlex, SingleJointMultipleTips, None};

Constructor & Destructor Documentation

virtual ROSEE::ActionPrimitive::~ActionPrimitive ( )

inlinevirtual

Definition at line 62 of file ActionPrimitive.h.

{};

ROSEE::ActionPrimitive::ActionPrimitive ( std::string  name, unsigned int  maxStoredActionStates, ActionPrimitive::Type  primitiveType  )

protected

Definition at line 39 of file ActionPrimitive.cpp.

                                                                                                                            : 
    Action(name, Action::Type::Primitive), maxStoredActionStates(maxStoredActionStates), primitiveType(primitiveType) {};

ROSEE::ActionPrimitive::ActionPrimitive ( std::string  name, unsigned int  nFingersInvolved, unsigned int  maxStoredActionStates, ActionPrimitive::Type  primitiveType  )

protected

Protected costructor: object creable only by derived classes.

There is no default costructor (without arguments) because we want to set always these members

Definition at line 42 of file ActionPrimitive.cpp.

                                           :
        Action(name, Action::Type::Primitive), nFingersInvolved(nFingersInvolved), maxStoredActionStates(maxStoredActionStates),
        primitiveType(primitiveType) {}

Member Function Documentation

void ROSEE::ActionPrimitive::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::ActionPinchLoose, ROSEE::ActionMultiplePinchTight, ROSEE::ActionSingleJointMultipleTips, and ROSEE::ActionPinchTight.

Definition at line 67 of file ActionPrimitive.cpp.

                                                             {

    // key: set of string (eg two tip names)
    out << YAML::Key << YAML::Flow << fingersInvolved;

    unsigned int nCont = 1;
    out << YAML::Value << YAML::BeginMap;
    out << YAML::Key << "PrimitiveType" << YAML::Value << primitiveType;
    out << YAML::Key << "ActionName" << YAML::Value << name;
    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;


    for (const auto & jointPos : getAllJointPos()) {

        std::string contSeq = "ActionState_" + std::to_string(nCont);
        out << YAML::Key << contSeq;

        out << YAML::Value << YAML::BeginMap;
            //actionState.first, the jointstates map
            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;
        nCont++;
    }
    out << YAML::EndMap;
}

virtual std::set< std::string> ROSEE::ActionPrimitive::getKeyElements ( ) const

pure virtual

Depending on the primitive, we can use different "keys" to take info from yaml file when parsing for example, trig and pinches are selected through fingersInvolved, while ActionSingleJointMultipleTips uses the joint name.

So each derived class must override this info, which for now is used only in YamlWorker::parseYamlPrimitive() and also by map handler to get the primitive, also on send action test

Implemented in ROSEE::ActionTrig, ROSEE::ActionSingleJointMultipleTips, and ROSEE::ActionPinchGeneric.

unsigned int ROSEE::ActionPrimitive::getMaxStoredActionStates

(

)

const

Definition at line 53 of file ActionPrimitive.cpp.

                                                                  {
    return maxStoredActionStates;
}

unsigned int ROSEE::ActionPrimitive::getnFingersInvolved

(

)

const

Definition at line 57 of file ActionPrimitive.cpp.

                                                             {
    return nFingersInvolved;
}

ROSEE::ActionPrimitive::Type ROSEE::ActionPrimitive::getPrimitiveType

(

)

const

Definition at line 49 of file ActionPrimitive.cpp.

                                                                      {
    return primitiveType;
}

void ROSEE::ActionPrimitive::setJointsInvolvedCount

(

ROSEE::JointsInvolvedCount

jointsInvolvedCount

)

Definition at line 61 of file ActionPrimitive.cpp.

                                                                                              {
    this->jointsInvolvedCount = jointsInvolvedCount;
}

Member Data Documentation

const unsigned int ROSEE::ActionPrimitive::maxStoredActionStates

protected

Definition at line 95 of file ActionPrimitive.h.

unsigned int ROSEE::ActionPrimitive::nFingersInvolved

protected

Definition at line 92 of file ActionPrimitive.h.

const Type ROSEE::ActionPrimitive::primitiveType

protected

Definition at line 97 of file ActionPrimitive.h.

---

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

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