ActionGeneric.h
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16 
17 #ifndef ROSEE_ACTIONGENERIC_H
18 #define ROSEE_ACTIONGENERIC_H
19 
21 #include <yaml-cpp/yaml.h>
22 #include <end_effector/Utils.h>
23 
24 
25 namespace ROSEE {
26 
32 class ActionGeneric : public Action {
33 
34 public:
35  typedef std::shared_ptr<ActionGeneric> Ptr;
36  typedef std::shared_ptr<const ActionGeneric> ConstPtr;
37 
44  ActionGeneric() ;
50  ActionGeneric (std::string actionName, ROSEE::JointPos jointPos);
51 
60  ActionGeneric (std::string actionName, ROSEE::JointPos jointPos, JointsInvolvedCount jic);
61  ActionGeneric (std::string actionName, ROSEE::JointPos jointPos, JointsInvolvedCount jic, std::set <std::string> fingersInvolved);
62 
67  JointPos getJointPos () const override;
68 
75  std::vector < ROSEE::JointPos > getAllJointPos () const override;
76 
80  virtual void emitYaml ( YAML::Emitter& out ) const override;
81 
85  virtual bool fillFromYaml ( YAML::const_iterator yamlIt ) override;
86 
87 protected:
88 
92  ActionGeneric(std::string actionName) ;
93 
95 
96 
97 };
98 
99 }
100 
101 #endif // ROSEE_ACTIONGENERIC_H
std::map< std::string, std::vector< double > > JointPos
The map to describe the position of all actuated joints. The key is the name of the string...
Definition: Action.h:40
std::map< std::string, unsigned int > JointsInvolvedCount
The map to describe, how many times a joint is set by the action. An ActionPrimitive and an ActionCom...
Definition: Action.h:63
The pure virtual class representing an Action. It has members that are in common to all derived class...
Definition: Action.h:71
std::vector< ROSEE::JointPos > getAllJointPos() const override
Get the joint position related to this action, overriden from Action Necessary to not make this class...
std::shared_ptr< ActionGeneric > Ptr
Definition: ActionGeneric.h:35
std::shared_ptr< const ActionGeneric > ConstPtr
Definition: ActionGeneric.h:36
Class to handle a generic, simple action. Differently from other class, this is easily creable manual...
Definition: ActionGeneric.h:32
virtual void emitYaml(YAML::Emitter &out) const override
Function to fill the argument passed with info about the action. Pure virtual because each derived cl...
JointPos getJointPos() const override
Get the joint position related to this action, overriden from Action.
ActionGeneric()
default costructor. It is used when parsing a file with YamlWorker,
std::set< std::string > fingersInvolved
Definition: Action.h:148
virtual bool fillFromYaml(YAML::const_iterator yamlIt) override
function to fill members of the Action with infos taken from yaml files


end-effector
Author(s): Luca Muratore , Davide Torielli , Liana Bertoni
autogenerated on Tue Apr 5 2022 02:57:52