Line data    Source code

       1             : /*
       2             :  * Copyright (C) 2020 IIT-HHCM
       3             :  * Author: Davide Torielli
       4             :  * email:  davide.torielli@iit.it
       5             :  *
       6             :  * Licensed under the Apache License, Version 2.0 (the "License");
       7             :  * you may not use this file except in compliance with the License.
       8             :  * You may obtain a copy of the License at
       9             :  *
      10             :  *     http://www.apache.org/licenses/LICENSE-2.0
      11             :  *
      12             :  * Unless required by applicable law or agreed to in writing, software
      13             :  * distributed under the License is distributed on an "AS IS" BASIS,
      14             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
      15             :  * See the License for the specific language governing permissions and
      16             :  * limitations under the License.
      17             :  */
      18             : 
      19             : #ifndef __ROSEE_ACTIONPINCHGENERIC_H
      20             : #define __ROSEE_ACTIONPINCHGENERIC_H
      21             : 
      22             : #include <ros_end_effector/GraspingActions/ActionPrimitive.h>
      23             : #include <yaml-cpp/yaml.h>
      24             : #include <iostream>
      25             : 
      26             : namespace ROSEE {
      27             : /**
      28             :  * @brief A base virtual class for the PinchTight and PinchLoose classes. It includes member and method that are
      29             :  * in common between the two type of pinches. It derives the more generic \ref ActionPrimitive
      30             :  */
      31       16959 : class ActionPinchGeneric : public ActionPrimitive
      32             : {
      33             :     
      34             : public:
      35             :     
      36             :     ActionPinchGeneric(std::string name, ActionPrimitive::Type type);
      37             :     ActionPinchGeneric(std::string name, unsigned int maxStoredActionStates, ActionPrimitive::Type type);
      38             :     ActionPinchGeneric(std::string name, unsigned int nFingerInvolved, unsigned int maxStoredActionStates, ActionPrimitive::Type type);
      39             :     
      40             :     /**
      41             :      * @brief Necessary method to know the key used by the maps which store all the Actions of one type. Used by \ref YamlWorker
      42             :      * @return for this class, it return the two tips names, inserted in a set because father signature say so
      43             :      */
      44             :     std::set < std::string> getKeyElements () const override;
      45             : 
      46             :     
      47             : 
      48             : };
      49             : 
      50             : }
      51             : 
      52             : #endif // __ROSEE_ACTIONPINCHGENERIC_H