A ActionComposed, which is formed by one or more Primitives (or even other composed). It is useful for example to create an action that grasp only with bending the tips (e.g. to take a dish from above) If the ActionComposed has the boolean value independent to true, it means that include indipendent sub-actions, so, each joint is used by at maximum by ONLY ONE of the sub-action inside. In this case the jointsInvolvedCount will contain only 0 or 1 values. If the ActionComposed is not independent, each joint position is calculated as the mean of all the joint position of the contained sub-actions that uses that joint. So each mean can include different primitives, so we used the jointsInvolvedCount vector to store the number of sub action that use each joint. More...

#include <ActionComposed.h>

Inheritance diagram for ROSEE::ActionComposed:

[legend]

Public Types
typedef std::shared_ptr< const ActionComposed >	ConstPtr

typedef std::shared_ptr< ActionComposed >	Ptr

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

typedef std::shared_ptr< ActionGeneric >	Ptr

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
	ActionComposed ()

	ActionComposed (std::string name)

	ActionComposed (std::string name, bool independent)

	ActionComposed (const ActionComposed &other)
	Copy costructor. More...

virtual void	emitYaml (YAML::Emitter &out) const override
	Emit info in a file with yaml format. More...

bool	empty ()
	Check if the action composed is empty. More...

virtual bool	fillFromYaml (YAML::const_iterator yamlIt) override
	Fill the internal data with infos taken from yaml file. More...

std::vector< std::string >	getInnerActionsNames () const

bool	isIndependent () const

unsigned int	numberOfInnerActions () const

virtual void	print () const override
	Print info about this action (name, jointpos, inner actions names, and other) More...

virtual bool	sumAction (ROSEE::Action::Ptr action, double jointPosScaleFactor=1.0, unsigned int jointPosIndex=0)
	Function to add another action to this one. More...

Public Member Functions inherited from ROSEE::ActionGeneric
	ActionGeneric ()
	default costructor. It is used when parsing a file with YamlWorker, More...

	ActionGeneric (std::string actionName, ROSEE::JointPos jointPos)
	Simpliest costructor, need only essential infos. More...

	ActionGeneric (std::string actionName, ROSEE::JointPos jointPos, JointsInvolvedCount jic)
	Another costructor. More...

	ActionGeneric (std::string actionName, ROSEE::JointPos jointPos, JointsInvolvedCount jic, std::set< std::string > fingersInvolved)

std::vector< ROSEE::JointPos >	getAllJointPos () const override
	Get the joint position related to this action, overriden from Action Necessary to not make this class abstact, even if for a composed action we store only a single JointPos, so this function return a single element vector. More...

JointPos	getJointPos () const override
	Get the joint position related to this action, overriden from Action. More...

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 ()

Protected Member Functions
bool	checkIndependency (ROSEE::Action::Ptr action)

Protected Member Functions inherited from ROSEE::ActionGeneric
	ActionGeneric (std::string actionName)
	this costructor is only for derived class More...

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

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

Protected Attributes
bool	independent

std::vector< std::string >	innerActionsNames

unsigned int	nInnerActions

Protected Attributes inherited from ROSEE::ActionGeneric
JointPos	jointPos

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

JointsInvolvedCount	jointsInvolvedCount

std::string	name

Action::Type	type

Detailed Description

A ActionComposed, which is formed by one or more Primitives (or even other composed). It is useful for example to create an action that grasp only with bending the tips (e.g. to take a dish from above) If the ActionComposed has the boolean value independent to true, it means that include indipendent sub-actions, so, each joint is used by at maximum by ONLY ONE of the sub-action inside. In this case the jointsInvolvedCount will contain only 0 or 1 values. If the ActionComposed is not independent, each joint position is calculated as the mean of all the joint position of the contained sub-actions that uses that joint. So each mean can include different primitives, so we used the jointsInvolvedCount vector to store the number of sub action that use each joint.

Todo:: A removeAction function? difficult to implement, and useless?

Definition at line 44 of file ActionComposed.h.

Member Typedef Documentation

◆ ConstPtr

typedef std::shared_ptr<const ActionComposed> ROSEE::ActionComposed::ConstPtr

Definition at line 49 of file ActionComposed.h.

◆ Ptr

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

Definition at line 48 of file ActionComposed.h.

Constructor & Destructor Documentation

◆ ActionComposed() [1/4]

ROSEE::ActionComposed::ActionComposed ( )

Definition at line 21 of file ActionComposed.cpp.

◆ ActionComposed() [2/4]

ROSEE::ActionComposed::ActionComposed ( std::string name )

Definition at line 27 of file ActionComposed.cpp.

◆ ActionComposed() [3/4]

ROSEE::ActionComposed::ActionComposed	(	std::string	name,
		bool	independent
	)

Definition at line 33 of file ActionComposed.cpp.

◆ ActionComposed() [4/4]

ROSEE::ActionComposed::ActionComposed ( const ActionComposed & other )

Copy costructor.

Member Function Documentation

◆ checkIndependency()

bool ROSEE::ActionComposed::checkIndependency ( ROSEE::Action::Ptr action )

protected

Definition at line 147 of file ActionComposed.cpp.

◆ emitYaml()

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

overridevirtual

Emit info in a file with yaml format.

Parameters

out	a YAML::Emitter& object to emit the infos

Reimplemented from ROSEE::ActionGeneric.

Definition at line 208 of file ActionComposed.cpp.

◆ empty()

bool ROSEE::ActionComposed::empty ( )

Check if the action composed is empty.

Returns: true if empty, false otherwise

Definition at line 51 of file ActionComposed.cpp.

◆ fillFromYaml()

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

overridevirtual

Fill the internal data with infos taken from yaml file.

Parameters

yamlIt a yamlt iterator to a node which has loaded the file

Returns: false if some error happened

Reimplemented from ROSEE::ActionGeneric.

Definition at line 234 of file ActionComposed.cpp.

◆ getInnerActionsNames()

std::vector< std::string > ROSEE::ActionComposed::getInnerActionsNames ( ) const

Returns: std::vector <std::string> all the names that compose this action

Definition at line 47 of file ActionComposed.cpp.

◆ isIndependent()

bool ROSEE::ActionComposed::isIndependent ( ) const

Returns: bool true if this action must contain only independent primitives

Definition at line 43 of file ActionComposed.cpp.

◆ numberOfInnerActions()

unsigned int ROSEE::ActionComposed::numberOfInnerActions ( ) const

Returns: unsigned int the number of the actions that compose this one

Definition at line 39 of file ActionComposed.cpp.

◆ print()

void ROSEE::ActionComposed::print ( ) const

overridevirtual

Print info about this action (name, jointpos, inner actions names, and other)

Reimplemented from ROSEE::Action.

Definition at line 176 of file ActionComposed.cpp.

◆ sumAction()

bool ROSEE::ActionComposed::sumAction	(	ROSEE::Action::Ptr	action,
		double	jointPosScaleFactor = `1.0`,
		unsigned int	jointPosIndex = `0`
	)

virtual

Function to add another action to this one.

Parameters

action	The action to be added to the ActionComposed
jointPosScaleFactor	How much scale the joint position values for the action to be inserted. Default to 1
jointPosIndex	(default == 0) the wanted jointPos or `action` to insert. Error the index is greater than the number of joint pos in the `action`. First element has index 0.

Returns: False if the ActionComposed is independent and we try to add an action that is dependent from one of the already present

Definition at line 56 of file ActionComposed.cpp.

Member Data Documentation

◆ independent

bool ROSEE::ActionComposed::independent

protected

Definition at line 116 of file ActionComposed.h.

◆ innerActionsNames

std::vector< std::string > ROSEE::ActionComposed::innerActionsNames

protected

Definition at line 113 of file ActionComposed.h.

◆ nInnerActions

unsigned int ROSEE::ActionComposed::nInnerActions

protected

Definition at line 114 of file ActionComposed.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ ActionComposed() [1/4]

◆ ActionComposed() [2/4]

◆ ActionComposed() [3/4]

◆ ActionComposed() [4/4]

Member Function Documentation

◆ checkIndependency()

◆ emitYaml()

◆ empty()

◆ fillFromYaml()

◆ getInnerActionsNames()

◆ isIndependent()

◆ numberOfInnerActions()

◆ print()

◆ sumAction()

Member Data Documentation

◆ independent

◆ innerActionsNames

◆ nInnerActions