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_ACTIONTRIG_H
20 : #define __ROSEE_ACTIONTRIG_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 : /**
29 : * @brief The action of moving some joints (see later) of a single finger in a full clousure position
30 : * towards the palm.
31 : * The action is unique (joints involved in a certain position: the bound) so \ref maxStoredActionStates == 1 always
32 : * Described by:
33 : * - a tip (that is inside \ref fingersInvolved ): the tip of the finger that is involved in the action. So \ref nFingersInvolved == 1
34 : * - JointStates position: which set the joints of the finger to a bound to make the finger closes,
35 : * and all the other non-involved joints to zero
36 : * - Optional info \ref type (even if is a member of the base class, here is particular). The Trig, TipFlex
37 : * and FingFlex have indentical structure, so ther is no necessity to create different classes, but necessity of only
38 : * discriminate the objects using the \ref Type.
39 : *
40 : * Actually, there are 3 types of action for this class
41 : * - Trig: The action of fully closing a finger towards the parlm
42 : * (i.e. all joints of a finger set to respective bounds)
43 : * - TipFlex: The action of fully closing the last part of finger, maintaining the proximal phalanges still
44 : * (i.e. the last actuated joint of a finger set to its bound)
45 : * - FingFlex: The action of fully closing the first part of a finger, maintaing the distal phalanges still,
46 : * like moving a human finger maintaining it right
47 : * (i.e. the first actuated joint of a finger set to its bound)
48 : * For each tip:
49 : * note that having a Trig does not mean that we have also the tip and the fing flex, because for them at least
50 : * 2 actuated joint (not continuos) in the finger must exist.
51 : * If exist a TipFlex, also a FingFlex exist, and viceversa. If they exist, also a trig exist
52 : * The "sum" of TipFlex and "FingFlex" is equal to the Trig only if the number of actuated not continuos joint
53 : * in the finger is 2
54 : *
55 : * @todo instead of tip , use the finger name for the Trig (i.e. the defined srdf group).
56 : *
57 : * @note We have to understand the direction of joints to make the finger full close. Because full close position
58 : * can be linked to both lower or upper bound of each joint involved.
59 : * The method to solve this is to go in the max range of the joint, because usually a finger has more motion
60 : * towards the palm respect the opposite (like humans). We consider the default joint pos to 0.
61 : * @warning so, take care of joint limits: they must include the 0. Has it sense to have joint limits both
62 : * positive or both negative (not including the 0) ?
63 : */
64 3365 : class ActionTrig : public ActionPrimitive
65 : {
66 :
67 : public:
68 :
69 : typedef std::map < std::string, ActionTrig > Map;
70 :
71 : ActionTrig (std::string actionName, ActionPrimitive::Type);
72 : ActionTrig (std::string actionName, ActionPrimitive::Type, std::string tip, JointPos);
73 :
74 : /**
75 : * @brief Overriden get from the pure virtual function of the base class \ref ActionPrimitive
76 : * The signature must be equal, even if here we have set and vector of only one element. For this class
77 : * this function simply return a vector which contain a single element.
78 : */
79 : std::vector < JointPos > getAllJointPos() const override;
80 :
81 : /**
82 : * @brief Necessary method to know the key used by the maps which store all the Actions of one type. Used by \ref YamlWorker
83 : * @return for this class, it return the finger name, inserted in a single-element set because father signature say so
84 : */
85 : std::set < std::string> getKeyElements () const override;
86 :
87 :
88 : /**
89 : * @brief Overriden get from the pure virtual function of the base class \ref Action
90 : */
91 : JointPos getJointPos () const override;
92 : void setJointPos (JointPos);
93 :
94 : /**
95 : * @brief Specific method of trig to simply return a string instead of the full vector \ref fingersInvolved that in this case
96 : * contains only one element
97 : */
98 : std::string getFingerInvolved () const;
99 : void setFingerInvolved ( std::string );
100 :
101 : // we are ok with the default functions of the base class ActionPrimitive
102 : //void printAction () const override;
103 : //void emitYaml ( YAML::Emitter&) override;
104 : bool fillFromYaml( YAML::const_iterator yamlIt ) override;
105 :
106 : private:
107 : JointPos jointPos;
108 : };
109 :
110 : }
111 :
112 : #endif // __ROSEE_ACTIONTRIG_H
|
