ActionComposed.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_ACTIONCOMPOSED_H
#define __ROSEE_ACTIONCOMPOSED_H
 
#include <vector>
#include <string>
#include <end_effector/GraspingActions/ActionGeneric.h>
#include <end_effector/Utils.h>
#include <yaml-cpp/yaml.h>
#include <memory>
 
 
namespace ROSEE{
 
class ActionComposed : public ActionGeneric
{
    
public: 
    typedef std::shared_ptr<ActionComposed> Ptr;
    typedef std::shared_ptr<const ActionComposed> ConstPtr;
    
    ActionComposed();
    ActionComposed(std::string name);
    ActionComposed(std::string name, bool independent);
    ActionComposed (const ActionComposed &other);
 
    
    unsigned int numberOfInnerActions () const;
    
    bool isIndependent () const;
    
    std::vector <std::string> getInnerActionsNames() const ;
    
    virtual void print () const override;
    
    virtual void emitYaml ( YAML::Emitter& out) const override;
    
    virtual bool fillFromYaml(  YAML::const_iterator yamlIt ) override;
    
    virtual bool sumAction ( ROSEE::Action::Ptr action , double jointPosScaleFactor = 1.0, unsigned int jointPosIndex = 0 );
    
    bool empty();
    
protected:
    std::vector < std::string > innerActionsNames;
    unsigned int nInnerActions;
        
    bool independent; //true if each primitive must set different joint states
 
    bool checkIndependency ( ROSEE::Action::Ptr action );
 
    
};
}
 
#endif // __ROSEE_ACTIONCOMPOSED_H