#include <MapActionHandler.h>

Public Types
typedef std::map< std::set< std::string >, ROSEE::ActionPrimitive::Ptr >	ActionPrimitiveMap

typedef std::shared_ptr< MapActionHandler >	Ptr

Public Member Functions
std::map< std::string, std::shared_ptr< ROSEE::ActionGeneric > >	getAllGenerics () const

std::map< std::string, ActionPrimitiveMap >	getAllPrimitiveMaps () const

std::map< std::string, std::shared_ptr< ROSEE::ActionTimed > >	getAllTimeds () const

std::set< std::string >	getFingertipsForPinch (std::string finger, ROSEE::ActionPrimitive::Type pinchType) const

std::shared_ptr< ROSEE::ActionGeneric >	getGeneric (std::string name, bool verbose=true) const

ROSEE::Action::Ptr	getGrasp (unsigned int nFingers, std::string graspName="grasp")
	This function try to get an action that should be a grasp. More...

std::map< std::string, std::set< std::string > >	getPinchLoosePairsMap () const

std::map< std::string, std::set< std::string > >	getPinchTightPairsMap () const

ROSEE::ActionPrimitive::Ptr	getPrimitive (std::string primitiveName, std::set< std::string > key) const

std::vector< ROSEE::ActionPrimitive::Ptr >	getPrimitive (ROSEE::ActionPrimitive::Type, std::set< std::string > key) const

ROSEE::ActionPrimitive::Ptr	getPrimitive (std::string primitiveName, std::vector< std::string > key) const

std::vector< ROSEE::ActionPrimitive::Ptr >	getPrimitive (ROSEE::ActionPrimitive::Type, std::vector< std::string > key) const

ROSEE::ActionPrimitive::Ptr	getPrimitive (std::string primitiveName, std::pair< std::string, std::string > key) const

std::vector< ROSEE::ActionPrimitive::Ptr >	getPrimitive (ROSEE::ActionPrimitive::Type, std::pair< std::string, std::string > key) const

ROSEE::ActionPrimitive::Ptr	getPrimitive (std::string primitiveName, std::string key) const

std::vector< ROSEE::ActionPrimitive::Ptr >	getPrimitive (ROSEE::ActionPrimitive::Type, std::string key) const

std::vector< ActionPrimitiveMap >	getPrimitiveMap (ROSEE::ActionPrimitive::Type type) const
	getter to take all the primitives maps of one type ( More...

ActionPrimitiveMap	getPrimitiveMap (std::string primitiveName) const

std::map< std::string, ROSEE::ActionPrimitive::Ptr >	getPrimitiveSingleJointMultipleTipsMap (unsigned int nFingers) const
	function to return the map that contains all the singleJointMultipleTips primitive with that moves the specific number of fingers `nFingers` . This is in practice, the file singleJointMultipleTips_nFingers.yaml More...

std::shared_ptr< ROSEE::ActionTimed >	getTimed (std::string name) const

bool	insertSingleGeneric (ROSEE::ActionGeneric::Ptr generic)
	This is needed by rosservicehandler which has to include a new doable action, if received the service. More...

	MapActionHandler ()

bool	parseAllActions (std::string pathFolder)

bool	parseAllGenerics (std::string pathFolder)

bool	parseAllPrimitives (std::string pathFolder)

bool	parseAllTimeds (std::string pathFolder)

Private Member Functions
void	findPinchPairsMap ()

Private Attributes
std::map< std::string, std::shared_ptr< ROSEE::ActionGeneric > >	generics

std::string	handName

std::map< std::string, std::set< std::string > >	pinchLoosePairsMap

std::map< std::string, std::set< std::string > >	pinchTightPairsMap

std::map< std::string, ActionPrimitiveMap >	primitives

std::map< std::string, std::shared_ptr< ROSEE::ActionTimed > >	timeds

Detailed Description

Todo:: write docs

Definition at line 39 of file MapActionHandler.h.

Member Typedef Documentation

◆ ActionPrimitiveMap

typedef std::map< std::set < std::string >, ROSEE::ActionPrimitive::Ptr > ROSEE::MapActionHandler::ActionPrimitiveMap

Definition at line 47 of file MapActionHandler.h.

◆ Ptr

typedef std::shared_ptr<MapActionHandler> ROSEE::MapActionHandler::Ptr

Definition at line 43 of file MapActionHandler.h.

Constructor & Destructor Documentation

◆ MapActionHandler()

ROSEE::MapActionHandler::MapActionHandler ( )

Definition at line 19 of file MapActionHandler.cpp.

Member Function Documentation

◆ findPinchPairsMap()

void ROSEE::MapActionHandler::findPinchPairsMap ( )

private

Definition at line 389 of file MapActionHandler.cpp.

◆ getAllGenerics()

std::map< std::string, std::shared_ptr< ROSEE::ActionGeneric > > ROSEE::MapActionHandler::getAllGenerics ( ) const

Definition at line 187 of file MapActionHandler.cpp.

◆ getAllPrimitiveMaps()

std::map< std::string, ROSEE::MapActionHandler::ActionPrimitiveMap > ROSEE::MapActionHandler::getAllPrimitiveMaps ( ) const

Definition at line 48 of file MapActionHandler.cpp.

◆ getAllTimeds()

std::map< std::string, std::shared_ptr< ROSEE::ActionTimed > > ROSEE::MapActionHandler::getAllTimeds ( ) const

Definition at line 202 of file MapActionHandler.cpp.

◆ getFingertipsForPinch()

std::set< std::string > ROSEE::MapActionHandler::getFingertipsForPinch	(	std::string	finger,
		ROSEE::ActionPrimitive::Type	pinchType
	)		const

Definition at line 256 of file MapActionHandler.cpp.

◆ getGeneric()

std::shared_ptr< ROSEE::ActionGeneric > ROSEE::MapActionHandler::getGeneric	(	std::string	name,
		bool	verbose = `true`
	)		const

Note: these functions return generics and composed (because composed are a derived class of generic)

Definition at line 174 of file MapActionHandler.cpp.

◆ getGrasp()

ROSEE::Action::Ptr ROSEE::MapActionHandler::getGrasp	(	unsigned int	nFingers,
		std::string	graspName = `"grasp"`
	)

This function try to get an action that should be a grasp.

A real grasp, until now, can be two things:

a generic/composed action, composed by trig with all the fingers
a SingleJointMultipleTips primitive action, where the number of fingers moved is obviously the number of finger of the hand In the second case, if we have more joints that moves all the fingers, we return no action because we do not know which one is "the grasp". If we have only one joint that move all fingers, we return the singleJointMultipleTips action associated with this joint, even if there is the possibility that this is not a grasp (but which hand has only one joint that moves all fingers and it is not for a grasp?)

This function look first for a generic (or composed, that is a derived class of generic) action with name graspName , that should have been created and emitted before calling the parseAllActions (or parseAllGenerics) (e.g. in UniversalFindActions putting all the trigs togheter, but we can also define the grasp in another way).

Parameters

nFingers	the number of the finger of the hand, that is an information that this class hasn't
graspName	name given to the action grasp, default is "grasp"

Returns: pointer to Action, because the pointed object can be a primitive or a generic action.

Todo:: If not found, it tries to create a composed action, done with all trigs, and store this new action??

Warning: Generic and singleJointMultipleTips are different ros msg: singleJointMultipleTips want a element to be set (the joint) so this can cause problems.. so maybe this function should not exist

Definition at line 234 of file MapActionHandler.cpp.

◆ getPinchLoosePairsMap()

std::map< std::string, std::set< std::string > > ROSEE::MapActionHandler::getPinchLoosePairsMap ( ) const

Definition at line 170 of file MapActionHandler.cpp.

◆ getPinchTightPairsMap()

std::map< std::string, std::set< std::string > > ROSEE::MapActionHandler::getPinchTightPairsMap ( ) const

Definition at line 166 of file MapActionHandler.cpp.

◆ getPrimitive() [1/8]

ROSEE::ActionPrimitive::Ptr ROSEE::MapActionHandler::getPrimitive	(	std::string	primitiveName,
		std::set< std::string >	key
	)		const

Definition at line 52 of file MapActionHandler.cpp.

◆ getPrimitive() [2/8]

std::vector< ROSEE::ActionPrimitive::Ptr > ROSEE::MapActionHandler::getPrimitive	(	ROSEE::ActionPrimitive::Type	type,
		std::set< std::string >	key
	)		const

Definition at line 101 of file MapActionHandler.cpp.

◆ getPrimitive() [3/8]

ROSEE::ActionPrimitive::Ptr ROSEE::MapActionHandler::getPrimitive	(	std::string	primitiveName,
		std::vector< std::string >	key
	)		const

Definition at line 83 of file MapActionHandler.cpp.

◆ getPrimitive() [4/8]

std::vector< ROSEE::ActionPrimitive::Ptr > ROSEE::MapActionHandler::getPrimitive	(	ROSEE::ActionPrimitive::Type	type,
		std::vector< std::string >	key
	)		const

Definition at line 148 of file MapActionHandler.cpp.

◆ getPrimitive() [5/8]

ROSEE::ActionPrimitive::Ptr ROSEE::MapActionHandler::getPrimitive	(	std::string	primitiveName,
		std::pair< std::string, std::string >	key
	)		const

Definition at line 95 of file MapActionHandler.cpp.

◆ getPrimitive() [6/8]

std::vector< ROSEE::ActionPrimitive::Ptr > ROSEE::MapActionHandler::getPrimitive	(	ROSEE::ActionPrimitive::Type	type,
		std::pair< std::string, std::string >	key
	)		const

Definition at line 160 of file MapActionHandler.cpp.

◆ getPrimitive() [7/8]

ROSEE::ActionPrimitive::Ptr ROSEE::MapActionHandler::getPrimitive	(	std::string	primitiveName,
		std::string	key
	)		const

Definition at line 89 of file MapActionHandler.cpp.

◆ getPrimitive() [8/8]

std::vector< ROSEE::ActionPrimitive::Ptr > ROSEE::MapActionHandler::getPrimitive	(	ROSEE::ActionPrimitive::Type	type,
		std::string	key
	)		const

Definition at line 154 of file MapActionHandler.cpp.

◆ getPrimitiveMap() [1/2]

std::vector< ROSEE::MapActionHandler::ActionPrimitiveMap > ROSEE::MapActionHandler::getPrimitiveMap ( ROSEE::ActionPrimitive::Type type ) const

getter to take all the primitives maps of one type (

Parameters

type) A primitive map is a map where key is the element involved (joints or fingers) and values the action primitive itself It returns a vector (differently from version with string as argument) because we can have more primitives with same type (e.g. a singleJointMultipleTips primitive, which are differente between them because of the joint they move (singleJointMultipleTips_5 , singleJointMultipleTips_4 ... ) , or also multipinch)). This consideration is valid for all the other getPrimitive

type the primitive type of the action that we want

Returns: vector of all the primitives that are of type

Parameters

type

Warning: Be sure to call parsing functions (parseAll*** ) otherwise no actions are returned never

Definition at line 32 of file MapActionHandler.cpp.

◆ getPrimitiveMap() [2/2]

ROSEE::MapActionHandler::ActionPrimitiveMap ROSEE::MapActionHandler::getPrimitiveMap ( std::string primitiveName ) const

Definition at line 21 of file MapActionHandler.cpp.

◆ getPrimitiveSingleJointMultipleTipsMap()

std::map< std::string, ROSEE::ActionPrimitive::Ptr > ROSEE::MapActionHandler::getPrimitiveSingleJointMultipleTipsMap ( unsigned int nFingers ) const

function to return the map that contains all the singleJointMultipleTips primitive with that moves the specific number of fingers nFingers . This is in practice, the file singleJointMultipleTips_*nFingers*.yaml

It return only one map because per definition we have only one ActionPrimitiveMap of type singleJointMultipleTips with a defined number of nFinger. (Then inside it we can have more primitives ( when we have a hand with more joints that moves more than 1 finger), but always with the same number of nFinger)

Parameters

nFingers the number of the finger that the singleJointMultipleTips primitives moves

Returns: A map with key the joint that moves the nFingers and as value the primitive with all the info to command it to the hand. Obvioulsy we can have more joints that move a certain number (nFingers) of fingers

Todo:: return with the key as set instead??? or leave as it is?

Definition at line 207 of file MapActionHandler.cpp.

◆ getTimed()

std::shared_ptr< ROSEE::ActionTimed > ROSEE::MapActionHandler::getTimed ( std::string name ) const

Definition at line 191 of file MapActionHandler.cpp.

◆ insertSingleGeneric()

bool ROSEE::MapActionHandler::insertSingleGeneric ( ROSEE::ActionGeneric::Ptr generic )

This is needed by rosservicehandler which has to include a new doable action, if received the service.

Definition at line 365 of file MapActionHandler.cpp.

◆ parseAllActions()

bool ROSEE::MapActionHandler::parseAllActions ( std::string pathFolder )

Definition at line 301 of file MapActionHandler.cpp.

◆ parseAllGenerics()

bool ROSEE::MapActionHandler::parseAllGenerics ( std::string pathFolder )

Definition at line 334 of file MapActionHandler.cpp.

◆ parseAllPrimitives()

bool ROSEE::MapActionHandler::parseAllPrimitives ( std::string pathFolder )

Parameters

folder where the action are. the action will be look in (<pkg_path> + pathFolder + "/" + handName + "/") ;

Definition at line 318 of file MapActionHandler.cpp.

◆ parseAllTimeds()

bool ROSEE::MapActionHandler::parseAllTimeds ( std::string pathFolder )

Definition at line 351 of file MapActionHandler.cpp.

Member Data Documentation

◆ generics

std::map<std::string, std::shared_ptr<ROSEE::ActionGeneric> > ROSEE::MapActionHandler::generics

private

Definition at line 167 of file MapActionHandler.h.

◆ handName

std::string ROSEE::MapActionHandler::handName

private

Definition at line 164 of file MapActionHandler.h.

◆ pinchLoosePairsMap

std::map<std::string, std::set<std::string> > ROSEE::MapActionHandler::pinchLoosePairsMap

private

Definition at line 171 of file MapActionHandler.h.

◆ pinchTightPairsMap

std::map<std::string, std::set<std::string> > ROSEE::MapActionHandler::pinchTightPairsMap

private

Definition at line 170 of file MapActionHandler.h.

◆ primitives

std::map<std::string, ActionPrimitiveMap> ROSEE::MapActionHandler::primitives

private

Definition at line 166 of file MapActionHandler.h.

◆ timeds

std::map<std::string, std::shared_ptr<ROSEE::ActionTimed> > ROSEE::MapActionHandler::timeds

private

Definition at line 168 of file MapActionHandler.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ActionPrimitiveMap

◆ Ptr

Constructor & Destructor Documentation

◆ MapActionHandler()

Member Function Documentation

◆ findPinchPairsMap()

◆ getAllGenerics()

◆ getAllPrimitiveMaps()

◆ getAllTimeds()

◆ getFingertipsForPinch()

◆ getGeneric()

◆ getGrasp()

◆ getPinchLoosePairsMap()

◆ getPinchTightPairsMap()

◆ getPrimitive() [1/8]

◆ getPrimitive() [2/8]

◆ getPrimitive() [3/8]

◆ getPrimitive() [4/8]

◆ getPrimitive() [5/8]

◆ getPrimitive() [6/8]

◆ getPrimitive() [7/8]

◆ getPrimitive() [8/8]

◆ getPrimitiveMap() [1/2]

◆ getPrimitiveMap() [2/2]

◆ getPrimitiveSingleJointMultipleTipsMap()

◆ getTimed()

◆ insertSingleGeneric()

◆ parseAllActions()

◆ parseAllGenerics()

◆ parseAllPrimitives()

◆ parseAllTimeds()

Member Data Documentation

◆ generics

◆ handName

◆ pinchLoosePairsMap

◆ pinchTightPairsMap

◆ primitives

◆ timeds