The action of pinch with two tips. The two tips must collide for some hand configuration to mark this configuration as a pinchTight. All the non involved fingers are set in the default state. A pinchTight is defined by: More...

#include <ActionPinchTight.h>

Inheritance diagram for ROSEE::ActionPinchTight:

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Classes
struct	depthComp
	struct to put in order the actionStates. The first elements are the ones with greater depth , even if is almost impossible, two different contact with same depth will be considered equal with this definition of depthComp. Theoretically they are equal only if the joint status are equal (of only joints that act for the collision). In fact, we should have the possibility to have two contact with the same depth (if joint statuses are different), they will be equally good More...

Public Types
typedef std::map< std::pair< std::string, std::string >, ActionPinchTight >	Map

typedef std::pair< JointPos, collision_detection::Contact >	StateWithContact
	A pair to "link" the JointPos with infos about the collision among the two tips. More...

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
	ActionPinchTight ()

	ActionPinchTight (unsigned int maxStoredActionStates)

	ActionPinchTight (std::pair< std::string, std::string >, JointPos, collision_detection::Contact)

	ActionPinchTight (std::string finger1, std::string finger2, JointPos, collision_detection::Contact)

void	emitYaml (YAML::Emitter &) 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< ROSEE::ActionPinchTight::StateWithContact >	getActionStates () const
	Specific get for the ActionPinchTight to return the state with contact info. More...

std::vector< ROSEE::JointPos >	getAllJointPos () const override
	Return all the joint position stored. If the concrete (derived from Action) has only one joint position info, this function is equal to getJointPos. More...

JointPos	getJointPos () const override
	Get the position related to this action. Pure Virtual function: the derived class store this info differently so they are in charge of providing the read. More...

JointPos	getJointPos (unsigned int index) const

bool	insertActionState (JointPos, collision_detection::Contact)
	function to insert a single action in the actionStates set of possible action. If the action is not so good (based on depth now) the action is not inserted and the function return false More...

void	print () const override

Public Member Functions inherited from ROSEE::ActionPinchGeneric
	ActionPinchGeneric (std::string name, ActionPrimitive::Type type)

	ActionPinchGeneric (std::string name, unsigned int maxStoredActionStates, ActionPrimitive::Type type)

	ActionPinchGeneric (std::string name, unsigned int nFingerInvolved, unsigned int maxStoredActionStates, ActionPrimitive::Type type)

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...

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 Member Functions
bool	emitYamlForContact (collision_detection::Contact, YAML::Emitter &) const

Private Attributes
std::set< StateWithContact, depthComp >	actionStates
	For each pair, we want a set of action because we want to store (in general) more possible way to do that action. The pinch among two tips can theoretically be done in infinite ways, we store the best ways found (ordering them by the depth of fingertips compenetration) More...

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

The action of pinch with two tips. The two tips must collide for some hand configuration to mark this configuration as a pinchTight. All the non involved fingers are set in the default state. A pinchTight is defined by:

2 tips ( that are inside fingersInvolved ), so nFingersInvolved == 2 ( members of base class ActionPrimitive )
JointStates position: where the collision happens (inside actionStates )
Optional info (inside actionStates ): the contact of moveit. Now only the member depth is used. It is used to order the actions in the actionStates set, to have a "quality" measure (make sense if maxStoredActionStates > 1 ): the more the depth of compenetration is, the more we say the pinchTight is good

Definition at line 40 of file ActionPinchTight.h.

Member Typedef Documentation

◆ Map

typedef std::map< std::pair<std::string, std::string>, ActionPinchTight > ROSEE::ActionPinchTight::Map

Definition at line 45 of file ActionPinchTight.h.

◆ StateWithContact

typedef std::pair<JointPos, collision_detection::Contact> ROSEE::ActionPinchTight::StateWithContact

A pair to "link" the JointPos with infos about the collision among the two tips.

Definition at line 49 of file ActionPinchTight.h.

Constructor & Destructor Documentation

◆ ActionPinchTight() [1/4]

ROSEE::ActionPinchTight::ActionPinchTight ( )

Definition at line 21 of file ActionPinchTight.cpp.

◆ ActionPinchTight() [2/4]

ROSEE::ActionPinchTight::ActionPinchTight ( unsigned int maxStoredActionStates )

Definition at line 24 of file ActionPinchTight.cpp.

◆ ActionPinchTight() [3/4]

ROSEE::ActionPinchTight::ActionPinchTight	(	std::pair< std::string, std::string >	fingerNamesPair,
		JointPos	jp,
		collision_detection::Contact	cont
	)

Definition at line 27 of file ActionPinchTight.cpp.

◆ ActionPinchTight() [4/4]

ROSEE::ActionPinchTight::ActionPinchTight	(	std::string	finger1,
		std::string	finger2,
		JointPos	jp,
		collision_detection::Contact	cont
	)

Definition at line 37 of file ActionPinchTight.cpp.

Member Function Documentation

◆ emitYaml()

void ROSEE::ActionPinchTight::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 156 of file ActionPinchTight.cpp.

◆ emitYamlForContact()

bool ROSEE::ActionPinchTight::emitYamlForContact	(	collision_detection::Contact	moveitContact,
		YAML::Emitter &	out
	)		const

private

private function to be called by the emitYaml

Definition at line 294 of file ActionPinchTight.cpp.

◆ fillFromYaml()

bool ROSEE::ActionPinchTight::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 197 of file ActionPinchTight.cpp.

◆ getActionStates()

std::vector< ROSEE::ActionPinchTight::StateWithContact > ROSEE::ActionPinchTight::getActionStates ( ) const

Specific get for the ActionPinchTight to return the state with contact info.

Returns: The vector (of size maxStoredActionStates) containing all the StateWithContact objects

Definition at line 73 of file ActionPinchTight.cpp.

◆ getAllJointPos()

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

overridevirtual

Return all the joint position stored. If the concrete (derived from Action) has only one joint position info, this function is equal to getJointPos.

Returns: vector containing all the joint pos of the action

Implements ROSEE::Action.

Definition at line 60 of file ActionPinchTight.cpp.

◆ getJointPos() [1/2]

ROSEE::JointPos ROSEE::ActionPinchTight::getJointPos ( ) const

overridevirtual

Get the position related to this action. Pure Virtual function: the derived class store this info differently so they are in charge of providing the read.

Returns: JointsPos the map indicating how the position of the joint

Implements ROSEE::Action.

Definition at line 47 of file ActionPinchTight.cpp.

◆ getJointPos() [2/2]

ROSEE::JointPos ROSEE::ActionPinchTight::getJointPos ( unsigned int index ) const

Definition at line 51 of file ActionPinchTight.cpp.

◆ insertActionState()

bool ROSEE::ActionPinchTight::insertActionState	(	ROSEE::JointPos	jp,
		collision_detection::Contact	cont
	)

function to insert a single action in the actionStates set of possible action. If the action is not so good (based on depth now) the action is not inserted and the function return false

Parameters

JointPos	The joints position
collision_detection::Contact	the contact associated with the action

Returns: TRUE if the action is good and is inserted in the set actionStates FALSE if the action given as param was not good as the others in the set actionStates and the set was already full (maxStoredActionStates)

Definition at line 86 of file ActionPinchTight.cpp.

◆ print()

void ROSEE::ActionPinchTight::print ( ) const

overridevirtual

For the pinch, we override these function to print, emit and parse the optional info Contact, which is specific of the pinch

Reimplemented from ROSEE::Action.

Definition at line 115 of file ActionPinchTight.cpp.

Member Data Documentation

◆ actionStates

std::set< StateWithContact, depthComp > ROSEE::ActionPinchTight::actionStates

private

For each pair, we want a set of action because we want to store (in general) more possible way to do that action. The pinch among two tips can theoretically be done in infinite ways, we store the best ways found (ordering them by the depth of fingertips compenetration)

Definition at line 109 of file ActionPinchTight.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Map

◆ StateWithContact

Constructor & Destructor Documentation

◆ ActionPinchTight() [1/4]

◆ ActionPinchTight() [2/4]

◆ ActionPinchTight() [3/4]

◆ ActionPinchTight() [4/4]

Member Function Documentation

◆ emitYaml()

◆ emitYamlForContact()

◆ fillFromYaml()

◆ getActionStates()

◆ getAllJointPos()

◆ getJointPos() [1/2]

◆ getJointPos() [2/2]

◆ insertActionState()

◆ print()

Member Data Documentation

◆ actionStates