The action of moving some joints (see later) of a single finger in a full clousure position towards the palm. More...

#include <ActionTrig.h>

Inheritance diagram for ROSEE::ActionTrig:

Collaboration diagram for ROSEE::ActionTrig:

Public Types
typedef std::map< std::string, ActionTrig >	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
	ActionTrig (std::string actionName, ActionPrimitive::Type)

	ActionTrig (std::string actionName, ActionPrimitive::Type, std::string tip, JointPos)

std::vector< JointPos >	getAllJointPos () const override
	Overriden get from the pure virtual function of the base class ActionPrimitive The signature must be equal, even if here we have set and vector of only one element. 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	getJointPos () const override
	Overriden get from the pure virtual function of the base class Action. More...

void	setJointPos (JointPos)

std::string	getFingerInvolved () const
	Specific method of trig to simply return a string instead of the full vector fingersInvolved that in this case contains only one element. More...

void	setFingerInvolved (std::string)

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)

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 void	print () const
	Overridable functions, if we want to make them more action-specific. More...

Private Attributes
JointPos	jointPos

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

The action of moving some joints (see later) of a single finger in a full clousure position towards the palm.

The action is unique (joints involved in a certain position: the bound) so maxStoredActionStates == 1 always Described by:

a tip (that is inside fingersInvolved ): the tip of the finger that is involved in the action. So nFingersInvolved == 1
JointStates position: which set the joints of the finger to a bound to make the finger closes, and all the other non-involved joints to zero
Optional info type (even if is a member of the base class, here is particular). The Trig, TipFlex and FingFlex have indentical structure, so ther is no necessity to create different classes, but necessity of only discriminate the objects using the Type.

Actually, there are 3 types of action for this class

Trig: The action of fully closing a finger towards the parlm (i.e. all joints of a finger set to respective bounds)
TipFlex: The action of fully closing the last part of finger, maintaining the proximal phalanges still (i.e. the last actuated joint of a finger set to its bound)
FingFlex: The action of fully closing the first part of a finger, maintaing the distal phalanges still, like moving a human finger maintaining it right (i.e. the first actuated joint of a finger set to its bound) For each tip: note that having a Trig does not mean that we have also the tip and the fing flex, because for them at least 2 actuated joint (not continuos) in the finger must exist. If exist a TipFlex, also a FingFlex exist, and viceversa. If they exist, also a trig exist The "sum" of TipFlex and "FingFlex" is equal to the Trig only if the number of actuated not continuos joint in the finger is 2

Todo:: instead of tip , use the finger name for the Trig (i.e. the defined srdf group).

Note: We have to understand the direction of joints to make the finger full close. Because full close position can be linked to both lower or upper bound of each joint involved. The method to solve this is to go in the max range of the joint, because usually a finger has more motion towards the palm respect the opposite (like humans). We consider the default joint pos to 0.

Warning: so, take care of joint limits: they must include the 0. Has it sense to have joint limits both positive or both negative (not including the 0) ?

Definition at line 64 of file ActionTrig.h.

Member Typedef Documentation

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

Definition at line 69 of file ActionTrig.h.

Constructor & Destructor Documentation

ROSEE::ActionTrig::ActionTrig	(	std::string	actionName,
		ActionPrimitive::Type	actionType
	)

Definition at line 21 of file ActionTrig.cpp.

21 :

22 ActionPrimitive ( actionName, 1, 1, actionType ) { }

ROSEE::ActionPrimitive::ActionPrimitive

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

Definition: ActionPrimitive.cpp:39

ROSEE::ActionTrig::ActionTrig	(	std::string	actionName,
		ActionPrimitive::Type	actionType,
		std::string	tip,
		JointPos	jp
	)

Definition at line 24 of file ActionTrig.cpp.

                                                                                                              :
     ActionPrimitive ( actionName, 1, 1, actionType ) {
         
     fingersInvolved.insert(tip);
     jointPos = jp;   
 }

Member Function Documentation

bool ROSEE::ActionTrig::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 59 of file ActionTrig.cpp.

                                                                  {
 
 
     std::vector <std::string> fingInvolvedVect = yamlIt->first.as <std::vector < std::string >> ();
     for (const auto &it : fingInvolvedVect) {
         fingersInvolved.insert(it);
     }
 
     for ( YAML::const_iterator element = yamlIt->second.begin(); element != yamlIt->second.end(); ++element) {
         
         std::string key = element->first.as<std::string>();
         if ( key.compare ("ActionName") == 0 ){
             name = element->second.as < std::string > ();
             
         } else  if (key.compare("JointsInvolvedCount") == 0) {
             jointsInvolvedCount = element->second.as < JointsInvolvedCount > ();
         
         } else if (key.compare ("PrimitiveType") == 0) {
             ROSEE::ActionPrimitive::Type parsedType = static_cast<ROSEE::ActionPrimitive::Type> ( 
                 element->second.as <unsigned int>() );
             if (parsedType != primitiveType ) {
                 std::cerr << "[ERROR ActionTrig::" << __func__ << " parsed a type " << parsedType << 
                     " but this object has primitive type " << primitiveType << std::endl; 
                 return false;
             }
             
         } else if (key.compare(0, 12, "ActionState_") == 0) { //compare 12 caracters from index 0 of key
             for(YAML::const_iterator asEl = element->second.begin(); asEl != element->second.end(); ++asEl) {
                 //asEl can be the map JointStates or the map Optional
 
                 if (asEl->first.as<std::string>().compare ("JointPos") == 0 ) {
                     jointPos =  asEl->second.as < JointPos >()  ;
                     
                 } else {
                     //ERRROr, only JointPos at this level (optional is not for trig)
                     std::cerr << "[ERROR ActionTrig::" << __func__ << " not know key " 
                         << asEl->first.as<std::string>() << 
                         " found in the yaml file at this level" << std::endl; 
                     return false;
                 }
             }
             
         } else {
             std::cerr << "[ERROR ActionTrig::" << __func__ << "not know key " << key << 
                 " found in the yaml file" << std::endl; 
         }
     }
     return true;
 }

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

overridevirtual

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

For this class this function simply return a vector which contain a single element.

Implements ROSEE::Action.

Definition at line 47 of file ActionTrig.cpp.

                                                                  {
     
     std::vector < JointPos > retVect {jointPos};
     return retVect;
 }

std::string ROSEE::ActionTrig::getFingerInvolved ( ) const

Specific method of trig to simply return a string instead of the full vector fingersInvolved that in this case contains only one element.

Definition at line 31 of file ActionTrig.cpp.

                                                     {
     return *( fingersInvolved.begin() );
 }

ROSEE::JointPos ROSEE::ActionTrig::getJointPos ( ) const

overridevirtual

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

Implements ROSEE::Action.

Definition at line 35 of file ActionTrig.cpp.

                                                  {
     return jointPos;
 }

std::set< std::string > ROSEE::ActionTrig::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 finger name, inserted in a single-element set because father signature say so

Implements ROSEE::ActionPrimitive.

Definition at line 39 of file ActionTrig.cpp.

                                                         {
     return fingersInvolved;
 }

void ROSEE::ActionTrig::setFingerInvolved ( std::string fingName )

Definition at line 54 of file ActionTrig.cpp.

                                                             {
     fingersInvolved.clear();
     fingersInvolved.insert(fingName);
 }

void ROSEE::ActionTrig::setJointPos ( ROSEE::JointPos jointPos )

Definition at line 43 of file ActionTrig.cpp.

                                                         {
     this->jointPos = jointPos;
 }

Member Data Documentation

JointPos ROSEE::ActionTrig::jointPos

private

Definition at line 107 of file ActionTrig.h.

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

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

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation