Primitive which indicate a motion of n fingers moving ONLY ONE joint. For example, this primitive is necessary for the hands that have one joint that close all the fingers to do a grasp. But it can also useful to detect other multiple finger motions (like a "spread finger") More...

#include <ActionSingleJointMultipleTips.h>

Inheritance diagram for ROSEE::ActionSingleJointMultipleTips:

[legend]

Public Types
typedef std::map< std::string, ActionSingleJointMultipleTips >	Map

Public Types inherited from ROSEE::ActionPrimitive
typedef std::shared_ptr< const ActionPrimitive >	ConstPtr

typedef std::shared_ptr< ActionPrimitive >	Ptr

enum	Type { PinchTight, PinchLoose, MultiplePinchTight, Trig, TipFlex, FingFlex, SingleJointMultipleTips, None }
	Enum useful to discriminate each primitive action when, for example, we want to parse a file if you change this enum, change also the ROSEEControl.msg accordingly. More...

Public Types inherited from ROSEE::Action
typedef std::shared_ptr< const Action >	ConstPtr

typedef std::shared_ptr< Action >	Ptr

enum	Type { Primitive, Generic, Composed, Timed, None }
	Enum useful to discriminate each action when, for example, we want to parse a file if you change this enum, change also the ROSEEControl.msg accordingly. More...

Public Member Functions
	ActionSingleJointMultipleTips ()

	ActionSingleJointMultipleTips (std::string actionName, unsigned int nFingers)
	NOT ANYOMORE ? used (for now) by yaml worker only. Before parsing we cant now the info that the other costructor need. So all these infos are set in the fillFromYaml. More...

	ActionSingleJointMultipleTips (std::string actionName, std::vector< std::string > fingers, std::string jointName, JointPos jpFurther, JointPos jpNearer)
	"Standard" costructor, which fill all the necessary infos More...

void	emitYaml (YAML::Emitter &out) const override
	Function to fill the argument passed with info about the action. Pure virtual because each derived class has different infos and stored differently. check YamlWorker to correctly emit and parse the file. More...

bool	fillFromYaml (YAML::const_iterator yamlIt) override
	function to fill members of the Action with infos taken from yaml files More...

std::vector< JointPos >	getAllJointPos () const override
	Overriden get from the pure virtual function of the base class Action The signature must be equal, even if here we have set and vector of only one element. For this class this function return the vector which contain jointPosFurther and jointPosNearer. More...

std::string	getJointName () const

JointPos	getJointPos () const override
	Overriden get from the pure virtual function of the base class Action. More...

JointPos	getJointPosFurther () const

JointPos	getJointPosNearer () const

std::set< std::string >	getKeyElements () const override
	Necessary method to know the key used by the maps which store all the Actions of one type. Used by YamlWorker. More...

void	print () const override
	Overridable functions, if we want to make them more action-specific. More...

Public Member Functions inherited from ROSEE::ActionPrimitive
unsigned int	getMaxStoredActionStates () const

unsigned int	getnFingersInvolved () const

Type	getPrimitiveType () const

void	setJointsInvolvedCount (ROSEE::JointsInvolvedCount jointsInvolvedCount)

virtual	~ActionPrimitive ()

Public Member Functions inherited from ROSEE::Action
std::set< std::string >	getFingersInvolved () const
	Get for fingersInvolved. More...

JointsInvolvedCount	getJointsInvolvedCount () const
	Get for jointsInvolvedCount. More...

std::string	getName () const
	Get the name of the action. More...

Type	getType () const

virtual	~Action ()

Private Attributes
std::string	jointInvolved

JointPos	jointPosFurther

JointPos	jointPosNearer

Additional Inherited Members
Protected Member Functions inherited from ROSEE::ActionPrimitive
	ActionPrimitive (std::string name, unsigned int maxStoredActionStates, Type type)

	ActionPrimitive (std::string name, unsigned int nFingersInvolved, unsigned int maxStoredActionStates, Type type)
	Protected costructor: object creable only by derived classes. There is no default costructor (without arguments) because we want to set always these members. More...

Protected Member Functions inherited from ROSEE::Action
	Action ()

	Action (std::string actionName, Action::Type type)

Protected Attributes inherited from ROSEE::ActionPrimitive
const unsigned int	maxStoredActionStates

unsigned int	nFingersInvolved

const Type	primitiveType

Protected Attributes inherited from ROSEE::Action
std::set< std::string >	fingersInvolved

JointsInvolvedCount	jointsInvolvedCount

std::string	name

Action::Type	type

Detailed Description

Primitive which indicate a motion of n fingers moving ONLY ONE joint. For example, this primitive is necessary for the hands that have one joint that close all the fingers to do a grasp. But it can also useful to detect other multiple finger motions (like a "spread finger")

Definition at line 31 of file ActionSingleJointMultipleTips.h.

Member Typedef Documentation

◆ Map

typedef std::map< std::string, ActionSingleJointMultipleTips > ROSEE::ActionSingleJointMultipleTips::Map

Definition at line 35 of file ActionSingleJointMultipleTips.h.

Constructor & Destructor Documentation

◆ ActionSingleJointMultipleTips() [1/3]

ROSEE::ActionSingleJointMultipleTips::ActionSingleJointMultipleTips ( )

Definition at line 19 of file ActionSingleJointMultipleTips.cpp.

◆ ActionSingleJointMultipleTips() [2/3]

ROSEE::ActionSingleJointMultipleTips::ActionSingleJointMultipleTips	(	std::string	actionName,
		unsigned int	nFingers
	)

NOT ANYOMORE ? used (for now) by yaml worker only. Before parsing we cant now the info that the other costructor need. So all these infos are set in the fillFromYaml.

Parameters

actionName	name of the action
nFingers	number of the fingers involved in the action (i.e. number of finger that the jointInvolved moves)

Definition at line 22 of file ActionSingleJointMultipleTips.cpp.

◆ ActionSingleJointMultipleTips() [3/3]

ROSEE::ActionSingleJointMultipleTips::ActionSingleJointMultipleTips	(	std::string	actionName,
		std::vector< std::string >	fingers,
		std::string	jointName,
		JointPos	jpFurther,
		JointPos	jpNearer
	)

"Standard" costructor, which fill all the necessary infos

Parameters

actionName	name of the action
fingers	vector containing all the fingers involved
jointName	the name of the joint involved in the action (one joint for definition)
jpFurther	JointPosition of ALL joints of the hand, with only the `jointName` set, in a way that the position is to the bound which is further from the default position (which is 0)
jpNearer	JointPosition of ALL joints of the hand, with only the `jointName` set, in a way that the position is to the bound which is nearer from the default position

Warning: If 0 position is not included between the bounds (eg 0.4 | 5.1) , jpNearer is the one nearer to 0 (0.4) and jpFurther the further (5.1). CHECK THIS FACT TO BE SURE

Definition at line 25 of file ActionSingleJointMultipleTips.cpp.

Member Function Documentation

◆ emitYaml()

void ROSEE::ActionSingleJointMultipleTips::emitYaml ( YAML::Emitter & out ) const

overridevirtual

Function to fill the argument passed with info about the action. Pure virtual because each derived class has different infos and stored differently. check YamlWorker to correctly emit and parse the file.

Parameters

out	the yaml-cpp emitter which store infos about the action

Note: this function does not print in a file, but simply fill a YAML::Emitter.

Reimplemented from ROSEE::ActionPrimitive.

Definition at line 99 of file ActionSingleJointMultipleTips.cpp.

◆ fillFromYaml()

bool ROSEE::ActionSingleJointMultipleTips::fillFromYaml ( YAML::const_iterator yamlIt )

overridevirtual

function to fill members of the Action with infos taken from yaml files

Parameters

yamlIt a YAML::const_iterator to the node that is loaded with YAML::LoadFile(dirPath + filename). check YamlWorker to correctly parse and emit the file

Implements ROSEE::Action.

Definition at line 128 of file ActionSingleJointMultipleTips.cpp.

◆ getAllJointPos()

std::vector< ROSEE::JointPos > ROSEE::ActionSingleJointMultipleTips::getAllJointPos ( ) const

overridevirtual

Overriden get from the pure virtual function of the base class Action The signature must be equal, even if here we have set and vector of only one element. For this class this function return the vector which contain jointPosFurther and jointPosNearer.

Implements ROSEE::Action.

Definition at line 43 of file ActionSingleJointMultipleTips.cpp.