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_ACTION_H
      20             : #define __ROSEE_ACTION_H
      21             : 
      22             : #include <vector>
      23             : #include <string>
      24             : #include <map>
      25             : #include <yaml-cpp/yaml.h>
      26             : #include <memory>
      27             : #include <iostream>
      28             : 
      29             : #include <end_effector/Utils.h>
      30             : 
      31             : /** 
      32             :  * 
      33             :  */
      34             : namespace ROSEE {
      35             :     
      36             : /** 
      37             :  * @brief The map to describe the position of all actuated joints. The key is the name of the string,
      38             :  * the value is a vector of joint positions (because in general a joint can have more DOFs
      39             :  */
      40             : typedef std::map <std::string, std::vector <double> > JointPos;
      41             : 
      42             : /** operator overload for JointPos so it is easier to print */
      43             : std::ostream& operator << (std::ostream& output, const JointPos jp) ;
      44             : 
      45             : JointPos operator * ( double multiplier,  JointPos jp) ;
      46             : 
      47             : JointPos operator * ( JointPos jp,  double multiplier ) ;
      48             : 
      49             : JointPos& operator *= ( JointPos& jp, double multiplier ) ;
      50             : 
      51             : JointPos operator + ( JointPos jp1, JointPos jp2) ;
      52             : 
      53             : JointPos& operator += ( JointPos& jp1, ROSEE::JointPos jp2);
      54             : 
      55             : 
      56             : /** 
      57             :  * @brief The map to describe, how many times a joint is set by the action. 
      58             :  *  An \ref ActionPrimitive and an \ref ActionComposed (indipendent) have as values only 0 or 1.
      59             :  *  \ref ActionComposed (not independet) can have values > 1.
      60             :  *  This map is also useful to understand if a joint is used or not by the action (0 == not used) so
      61             :  *  we can control only the necessary joints.
      62             :  */
      63             : typedef std::map <std::string, unsigned int> JointsInvolvedCount;
      64             : 
      65             : std::ostream& operator << (std::ostream& output, const JointsInvolvedCount jic);
      66             : 
      67             : 
      68             : /**
      69             :  * @brief The pure virtual class representing an Action. It has members that are in common to all derived class
      70             :  */
      71             : class Action
      72             : {
      73             : 
      74             : public:
      75             :     typedef std::shared_ptr<Action> Ptr;
      76             :     typedef std::shared_ptr<const Action> ConstPtr;
      77             :     
      78             :     /** 
      79             :      * @brief Enum useful to discriminate each  action when, for example, we want to parse a file 
      80             :      * @remind if you change this enum, change also the ROSEEControl.msg accordingly
      81             :      */
      82             :     enum Type {Primitive, Generic, Composed, Timed, None};
      83             : 
      84             :     /* destructor of base must be virtual */
      85       17724 :     virtual ~Action() {};
      86             :     
      87             :     /**
      88             :      * @brief Get the name of the action
      89             :      * @return std::string the name of the action
      90             :      */
      91             :     std::string getName () const ;
      92             :     
      93             :     Type getType() const;
      94             :     
      95             :     /**
      96             :      * @brief Get for \ref fingersInvolved
      97             :      * @return std::set<std::string> the set containing all the hand's fingers involved in the action
      98             :      */
      99             :     std::set <std::string> getFingersInvolved () const ;
     100             :     
     101             :     /**
     102             :      * @brief Get for \ref jointsInvolvedCount
     103             :      * @return JointsInvolvedCount the map indicating how many times the joint is set by the action
     104             :      */
     105             :     JointsInvolvedCount getJointsInvolvedCount () const ;
     106             :     
     107             :     /**
     108             :      * @brief Get the position related to this action. Pure Virtual function: the derived class
     109             :      * store this info differently so they are in charge of providing the read.
     110             :      * @return JointsPos the map indicating how the position of the joint
     111             :      */
     112             :     //TODO rename getJointsPos
     113             :     virtual JointPos getJointPos () const = 0;
     114             :     
     115             :     /**
     116             :      * @brief Return all the joint position stored. If the concrete (derived from \ref Action) has only one joint position info,
     117             :      * this function is equal to \ref getJointPos.
     118             :      * @return vector containing all the joint pos of the action
     119             :      */
     120             :     //TODO rename getAllJointsPos
     121             :     virtual std::vector < ROSEE::JointPos > getAllJointPos () const = 0;
     122             : 
     123             :     /** @brief Overridable functions, if we want to make them more action-specific */
     124             :     virtual void print () const ;
     125             :     
     126             :     /**
     127             :      * @brief Function to fill the argument passed with info about the action. Pure virtual because each derived
     128             :      * class has different infos and stored differently.
     129             :      * check \ref YamlWorker to correctly emit and parse the file
     130             :      * @param out the yaml-cpp emitter which store infos about the action
     131             :      * @note this function does not print in a file, but simply fill a YAML::Emitter.
     132             :      */
     133             :     virtual void emitYaml ( YAML::Emitter& out ) const = 0;
     134             :     /**
     135             :      * @brief function to fill members of the Action with infos taken from yaml files
     136             :      * @param yamlIt a YAML::const_iterator to the node that is loaded with YAML::LoadFile(dirPath + filename).
     137             :      * check \ref YamlWorker to correctly parse and emit the file
     138             :      */
     139             :     virtual bool fillFromYaml ( YAML::const_iterator yamlIt ) = 0;
     140             :     
     141             : protected:
     142             :     // Only derived class can create this class
     143             :     Action();
     144             :     Action(std::string actionName, Action::Type type);
     145             :     
     146             :     std::string name;
     147             :     Action::Type type;
     148             :     std::set <std::string> fingersInvolved;
     149             :     JointsInvolvedCount jointsInvolvedCount;
     150             : 
     151             : };
     152             : 
     153             : /**
     154             :  * To print the action type enum as the real name (eg primitive) and not as the enum number
     155             :  * REmember to add here if new type are implemented
     156             :  */
     157             : std::ostream& operator <<(std::ostream& out, const ROSEE::Action::Type type);
     158             : 
     159             : }
     160             : 
     161             : #endif // __ROSEE_ACTION_H