ROSEE::ActionSingleJointMultipleTips Class Reference

Primitive which indicate a motion of n fingers moving ONLY ONE joint. More...

#include <ActionSingleJointMultipleTips.h>

Inheritance diagram for ROSEE::ActionSingleJointMultipleTips:

Collaboration diagram for ROSEE::ActionSingleJointMultipleTips:

Public Types
typedef std::map< std::string, ActionSingleJointMultipleTips >	Map
Public Types inherited from ROSEE::ActionPrimitive
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
	ActionSingleJointMultipleTips ()
	ActionSingleJointMultipleTips (std::string actionName, unsigned int nFingers)
	NOT ANYOMORE ? used (for now) by yaml worker only. More...
	ActionSingleJointMultipleTips (std::string actionName, std::vector< std::string > fingers, std::string jointName, JointPos jpFurther, JointPos jpNearer)
	"Standard" costructor, which fill all the necessary infos More...
std::vector< JointPos >	getAllJointPos () const override
	Overriden get from the pure virtual function of the base class Action The signature must be equal, even if here we have set and vector of only one element. More...
JointPos	getJointPos () const override
	Overriden get from the pure virtual function of the base class Action. More...
std::set< std::string >	getKeyElements () const override
	Necessary method to know the key used by the maps which store all the Actions of one type. More...
JointPos	getJointPosFurther () const
JointPos	getJointPosNearer () const
std::string	getJointName () const
void	print () const override
	Overridable functions, if we want to make them more action-specific. More...
void	emitYaml (YAML::Emitter &out) const override
	Function to fill the argument passed with info about the action. More...
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::ActionPrimitive
virtual	~ActionPrimitive ()
Type	getPrimitiveType () const
unsigned int	getMaxStoredActionStates () const
unsigned int	getnFingersInvolved () const
void	setJointsInvolvedCount (ROSEE::JointsInvolvedCount jointsInvolvedCount)
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...

Private Attributes
JointPos	jointPosFurther
JointPos	jointPosNearer
std::string	jointInvolved

Additional Inherited Members
Protected Member Functions inherited from ROSEE::ActionPrimitive
	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 inherited from ROSEE::ActionPrimitive
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

Primitive which indicate a motion of n fingers moving ONLY ONE joint.

For example, this primitive is necessary for the hands that have one joint that close all the fingers to do a grasp. But it can also useful to detect other multiple finger motions (like a "spread finger")

Definition at line 31 of file ActionSingleJointMultipleTips.h.

Member Typedef Documentation

typedef std::map< std::string, ActionSingleJointMultipleTips > ROSEE::ActionSingleJointMultipleTips::Map

Definition at line 35 of file ActionSingleJointMultipleTips.h.

Constructor & Destructor Documentation

ROSEE::ActionSingleJointMultipleTips::ActionSingleJointMultipleTips

(

)

Definition at line 19 of file ActionSingleJointMultipleTips.cpp.

                                                                  : 
    ActionPrimitive ( "singleJointMultipleTips", 1, ROSEE::ActionPrimitive::Type::SingleJointMultipleTips ) {}

ROSEE::ActionSingleJointMultipleTips::ActionSingleJointMultipleTips	(	std::string	actionName,
		unsigned int	nFingers
	)

NOT ANYOMORE ? used (for now) by yaml worker only.

Before parsing we cant now the info that the other costructor need. So all these infos are set in the fillFromYaml

Parameters

actionName	name of the action
nFingers	number of the fingers involved in the action (i.e. number of finger that the jointInvolved moves)

Definition at line 22 of file ActionSingleJointMultipleTips.cpp.

                                                                                                              : 
    ActionPrimitive ( actionName, nFingers, 1, ROSEE::ActionPrimitive::Type::SingleJointMultipleTips ) {}

ROSEE::ActionSingleJointMultipleTips::ActionSingleJointMultipleTips	(	std::string	actionName,
		std::vector< std::string >	fingers,
		std::string	jointName,
		JointPos	jpFurther,
		JointPos	jpNearer
	)

"Standard" costructor, which fill all the necessary infos

Parameters

actionName	name of the action
fingers	vector containing all the fingers involved
jointName	the name of the joint involved in the action (one joint for definition)
jpFurther	JointPosition of ALL joints of the hand, with only the jointName set, in a way that the position is to the bound which is further from the default position (which is 0)
jpNearer	JointPosition of ALL joints of the hand, with only the jointName set, in a way that the position is to the bound which is nearer from the default position

Warning

If 0 position is not included between the bounds (eg 0.4 | 5.1) , jpNearer is the one nearer to 0 (0.4) and jpFurther the further (5.1). CHECK THIS FACT TO BE SURE

Definition at line 25 of file ActionSingleJointMultipleTips.cpp.

                                                                              : 
    ActionPrimitive ( actionName, fingers.size(), 1, ROSEE::ActionPrimitive::Type::SingleJointMultipleTips ) {
        
    this->jointInvolved = jointName;
    fingersInvolved.insert (fingers.begin(), fingers.end());
    
    this->jointPosFurther = jpFurther;
    this->jointPosNearer = jpNearer;
    
    // still need to do this, that can be done in costructor because we know that only one joint will be used, per definition of this action
    for (auto it : jpFurther ) {
        jointsInvolvedCount.insert (std::make_pair (it.first, 0) );
    }
    jointsInvolvedCount.at (jointName) = 1;
        
}

Member Function Documentation

void ROSEE::ActionSingleJointMultipleTips::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.

Reimplemented from ROSEE::ActionPrimitive.

Definition at line 99 of file ActionSingleJointMultipleTips.cpp.

                                                                        {
    
    out << YAML::Key << jointInvolved;
    out << YAML::Value << YAML::BeginMap;
    
        out << YAML::Key << "PrimitiveType" << YAML::Value << primitiveType;
        out << YAML::Key << "ActionName" << YAML::Value << name;
        out << YAML::Key << "FingersInvolved" << YAML::Value << YAML::Flow << fingersInvolved;
        
        out << YAML::Key << "JointPosFurther" << YAML::Value << YAML::BeginMap;
        for (const auto &joint : jointPosFurther) {
            out << YAML::Key << joint.first;
            out << YAML::Value << YAML::Flow << joint.second; //vector of double is emitted like Seq
        }
        out << YAML::EndMap;
        
        out << YAML::Key << "JointPosNearer" << YAML::Value << YAML::BeginMap;
        for (const auto &joint : jointPosNearer) {
            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;
    
}

bool ROSEE::ActionSingleJointMultipleTips::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.

Definition at line 128 of file ActionSingleJointMultipleTips.cpp.

                                                                               {
    
    jointInvolved = yamlIt->first.as < std::string > ();
    
    for ( YAML::const_iterator keyValue = yamlIt->second.begin(); keyValue != yamlIt->second.end(); ++keyValue) {
        std::string key = keyValue->first.as<std::string>();
        
        if ( key.compare ("ActionName") == 0 ){
            name = keyValue->second.as < std::string > ();
            
        } else if (key.compare("FingersInvolved") == 0) {
            std::vector <std::string> fingInvolvedVect = keyValue->second.as <std::vector < std::string >> ();
            for (const auto &it : fingInvolvedVect) {
                fingersInvolved.insert(it);
            }
            
        } else if (key.compare ("JointPosNearer") == 0) {
            jointPosNearer = keyValue->second.as <JointPos>();
            
        } else if (key.compare ("JointPosFurther") == 0) {
            jointPosFurther = keyValue->second.as <JointPos>();
        
        } else if (key.compare ("PrimitiveType") == 0) {
            ROSEE::ActionPrimitive::Type parsedType = static_cast<ROSEE::ActionPrimitive::Type> ( 
                keyValue->second.as <unsigned int>() );
            if (parsedType != primitiveType ) {
                std::cerr << "[ERROR ActionSingleJointMultipleTips::" << __func__ << " parsed a type " << parsedType << 
                    " but this object has primitive type " << primitiveType << std::endl; 
                return false;
            }
            
        } else {
            std::cerr << "[ERROR ActionSingleJointMultipleTips::" << __func__ << "not know key " << key << 
                " found in the yaml file" << std::endl; 
            return false;
        }
    }
    
    // we have also to fill this structure, that is not present on yaml file because redundant 
    for (auto it : jointPosFurther ) {
        jointsInvolvedCount.insert (std::make_pair (it.first, 0) );
    }
    jointsInvolvedCount.at (jointInvolved) = 1;
    
    nFingersInvolved = fingersInvolved.size();

    return true;
    
}

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

overridevirtual

Overriden get from the pure virtual function of the base class Action The signature must be equal, even if here we have set and vector of only one element.

For this class this function return the vector which contain jointPosFurther and jointPosNearer

Implements ROSEE::Action.

Definition at line 43 of file ActionSingleJointMultipleTips.cpp.

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

std::string ROSEE::ActionSingleJointMultipleTips::getJointName

(

)

const

Definition at line 63 of file ActionSingleJointMultipleTips.cpp.

                                                                 {
    return jointInvolved;
}

ROSEE::JointPos ROSEE::ActionSingleJointMultipleTips::getJointPos ( ) const

overridevirtual

Overriden get from the pure virtual function of the base class Action.

Returns

the jointPosFurther

Implements ROSEE::Action.

Definition at line 51 of file ActionSingleJointMultipleTips.cpp.

                                                                    {
    return jointPosFurther;
}

ROSEE::JointPos ROSEE::ActionSingleJointMultipleTips::getJointPosFurther

(

)

const

Definition at line 55 of file ActionSingleJointMultipleTips.cpp.

                                                                           {
    return jointPosFurther;
}

ROSEE::JointPos ROSEE::ActionSingleJointMultipleTips::getJointPosNearer

(

)

const

Definition at line 59 of file ActionSingleJointMultipleTips.cpp.

                                                                          {
    return jointPosNearer;
}

std::set< std::string > ROSEE::ActionSingleJointMultipleTips::getKeyElements ( ) const

overridevirtual

Necessary method to know the key used by the maps which store all the Actions of one type.

Used by YamlWorker

Returns

for this class, it return the jointName, inserted in a single-element set because father signature say so

Implements ROSEE::ActionPrimitive.

Definition at line 67 of file ActionSingleJointMultipleTips.cpp.

                                                                           {
    std::set <std::string> set;
    set.insert(jointInvolved);
    return set;
}

void ROSEE::ActionSingleJointMultipleTips::print ( ) const

overridevirtual

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

Reimplemented from ROSEE::Action.

Definition at line 73 of file ActionSingleJointMultipleTips.cpp.

                                                     {
    
    std::stringstream output;
    output << "ActionName: " << name << std::endl;
    
    output << "FingersInvolved: [";
    for (auto fingName : fingersInvolved){
        output << fingName << ", " ;
    }
    output.seekp (-2, output.cur); //to remove the last comma (and space)
    output << "]" << std::endl;
    
    output << "Joint which moves the tips: " << jointInvolved << std::endl;
    
    output << "JointPos Further from 0:" << std::endl;
    output << jointPosFurther;
    
    output << "JointPos Nearer to 0:" << std::endl;
    output << jointPosNearer;

    output << std::endl;

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

Member Data Documentation

std::string ROSEE::ActionSingleJointMultipleTips::jointInvolved

private

Definition at line 91 of file ActionSingleJointMultipleTips.h.

JointPos ROSEE::ActionSingleJointMultipleTips::jointPosFurther

private

Definition at line 89 of file ActionSingleJointMultipleTips.h.

JointPos ROSEE::ActionSingleJointMultipleTips::jointPosNearer

private

Definition at line 90 of file ActionSingleJointMultipleTips.h.

---

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

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