ActionPrimitive.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_ACTIONPRIMITIVE_H
#define __ROSEE_ACTIONPRIMITIVE_H
 
#include <set>
#include <string>
#include <map>
#include <vector>
#include <iostream>
 
#include <end_effector/GraspingActions/Action.h>
 
#include <yaml-cpp/yaml.h>
 
 
namespace ROSEE{
 
class ActionPrimitive : public Action
{
    
public:
    
    typedef std::shared_ptr<ActionPrimitive> Ptr;
    typedef std::shared_ptr<const ActionPrimitive> ConstPtr;
 
    enum Type {PinchTight, PinchLoose, MultiplePinchTight, Trig, TipFlex, FingFlex, SingleJointMultipleTips, None};
    /* destructor of base must be virtual */
    virtual ~ActionPrimitive() {};
 
    /* virtual and not getters */
    Type getPrimitiveType() const;
    unsigned int getMaxStoredActionStates() const;
    unsigned int getnFingersInvolved() const;
    
    virtual std::set < std::string> getKeyElements () const = 0;
    
    void setJointsInvolvedCount (ROSEE::JointsInvolvedCount jointsInvolvedCount ) ;    
    /* overridable functions, if we want to make them more action-specific*/
    virtual void emitYaml ( YAML::Emitter& ) const override;
 
protected:
    
    ActionPrimitive ( std::string name, unsigned int maxStoredActionStates, Type type );
 
    ActionPrimitive( std::string name, unsigned int nFingersInvolved, unsigned int maxStoredActionStates,
        Type type );
    
    /* e.g. two tips for the pinch*/
    unsigned int nFingersInvolved;
    
    /* the max number of action for each linksInvolved set that we want to store */
    const unsigned int maxStoredActionStates;
    
    const Type primitiveType;
        
 
    
};
 
//std::ostream& operator<<(std::ostream& out, const ActionPrimitive::Type type);
 
}
 
#endif // __ROSEE_ACTIONPRIMITIVE_H