Action.h

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/*
 * Copyright (C) 2020 IIT-HHCM
 * Author: Davide Torielli
 * email:  davide.torielli@iit.it
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef __ROSEE_ACTION_H
#define __ROSEE_ACTION_H

#include <vector>
#include <string>
#include <map>
#include <yaml-cpp/yaml.h>
#include <memory>
#include <iostream>

#include <end_effector/Utils.h>

namespace ROSEE {
    
typedef std::map <std::string, std::vector <double> > JointPos;

std::ostream& operator << (std::ostream& output, const JointPos jp) ;

JointPos operator * ( double multiplier,  JointPos jp) ;

JointPos operator * ( JointPos jp,  double multiplier ) ;

JointPos& operator *= ( JointPos& jp, double multiplier ) ;

JointPos operator + ( JointPos jp1, JointPos jp2) ;

JointPos& operator += ( JointPos& jp1, ROSEE::JointPos jp2);


typedef std::map <std::string, unsigned int> JointsInvolvedCount;

std::ostream& operator << (std::ostream& output, const JointsInvolvedCount jic);


class Action
{

public:
    typedef std::shared_ptr<Action> Ptr;
    typedef std::shared_ptr<const Action> ConstPtr;
    
    enum Type {Primitive, Generic, Composed, Timed, None};

    /* destructor of base must be virtual */
    virtual ~Action() {};
    
    std::string getName () const ;
    
    Type getType() const;
    
    std::set <std::string> getFingersInvolved () const ;
    
    JointsInvolvedCount getJointsInvolvedCount () const ;
    
    //TODO rename getJointsPos
    virtual JointPos getJointPos () const = 0;
    
    //TODO rename getAllJointsPos
    virtual std::vector < ROSEE::JointPos > getAllJointPos () const = 0;

    virtual void print () const ;
    
    virtual void emitYaml ( YAML::Emitter& out ) const = 0;
    virtual bool fillFromYaml ( YAML::const_iterator yamlIt ) = 0;
    
protected:
    // Only derived class can create this class
    Action();
    Action(std::string actionName, Action::Type type);
    
    std::string name;
    Action::Type type;
    std::set <std::string> fingersInvolved;
    JointsInvolvedCount jointsInvolvedCount;

};

std::ostream& operator <<(std::ostream& out, const ROSEE::Action::Type type);

}

#endif // __ROSEE_ACTION_H