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             : /** @TODO KNOW the distance at a certain percentage? so se volgio prendere un oggetto largo 3 cm il programma
      20             :  * sa quale è la percentage per avere una distanza di 3cm  
      21             :  *
      22             :  */
      23             : 
      24             : #include <end_effector/GraspingActions/ActionPinchGeneric.h>
      25             : 
      26           0 : ROSEE::ActionPinchGeneric::ActionPinchGeneric(std::string name, ActionPrimitive::Type type) : 
      27           0 :     ActionPrimitive (name, 3, type) { }
      28             : 
      29           0 : ROSEE::ActionPinchGeneric::ActionPinchGeneric(std::string name, unsigned int maxStoredActionStates, ActionPrimitive::Type type) : 
      30           0 :     ActionPrimitive (name, maxStoredActionStates, type) { }
      31             :     
      32       14723 : ROSEE::ActionPinchGeneric::ActionPinchGeneric(
      33       14723 :     std::string name, unsigned int nFingerInvolved, unsigned int maxStoredActionStates, ActionPrimitive::Type type) :
      34       14723 :         ActionPrimitive (name, nFingerInvolved, maxStoredActionStates, type) { }
      35             : 
      36          59 : std::set<std::string> ROSEE::ActionPinchGeneric::getKeyElements() const {
      37          59 :     return fingersInvolved;
      38             : }
      39             :