UniversalFindActions.cpp File Reference

#include <ros/ros.h>
#include <end_effector/FindActions.h>
#include <end_effector/GraspingActions/Action.h>
#include <end_effector/GraspingActions/ActionComposed.h>
#include <end_effector/GraspingActions/ActionTimed.h>
#include <end_effector/GraspingActions/ActionGeneric.h>
#include <end_effector/ParserMoveIt.h>
#include <end_effector/Parser.h>
#include <end_effector/MapActionHandler.h>

Include dependency graph for UniversalFindActions.cpp:

Go to the source code of this file.

Functions
int	main (int argc, char **argv)

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

********************* PARSING TEST and print... these things should not be here

**************************** COMPOSITE ACTION THINGS ************************************************

if (mapsHandler.getPrimitiveMap(ROSEE::ActionPrimitive::Type::Trig).size() > 0 &&
mapsHandler.getPrimitiveMap(ROSEE::ActionPrimitive::Type::Trig).at(0).size() == parserMoveIt->getNFingers() ) {

std::cout << "A composed action with Independent inner action: " << std::endl; ROSEE::ActionComposed grasp ("grasp", true);

for (auto trig : mapsHandler.getPrimitiveMap("trig")) { grasp.sumAction (trig.second) ; } grasp.print();

yamlWorker.createYamlFile (&grasp, folderForActions + "/generics/");

mapsHandler.parseAllGenerics (folderForActions + "/generics/");

std::cout << "PARSED COMPOSEd" << std::endl; mapsHandler.getGeneric("grasp")->print();

} else { //look if we have a single singleJointMultipleTips_MAXFINGER: it is 99% a grasp

std::cout << "A singleJointMultipleTips that move all fingers: " << std::endl;

std::map < std::string, ROSEE::ActionSingleJointMultipleTips> singleJointMultipleTipsMap = actionsFinder.findSingleJointMultipleTips (parserMoveIt->getNFingers(), folderForActions + "/primitives/") ;

if (singleJointMultipleTipsMap.size() == 1) { //if more, we do not know which is the one for grasping
    std::cout << "No Composed Grasp with trig but I found a SingleJointMultipleTips_" <<
    parserMoveIt->getNFingers() <<" that probably is a grasp (ie a joint that move all fingers)" << std::endl;
}
std::cout << "PARSED MAP OF singleJointMultipleTips_" << parserMoveIt->getNFingers() << "  FROM YAML FILE:" << std::endl;
for (auto &i : mapsHandler.getPrimitiveMap("singleJointMultipleTips_" + std::to_string(parserMoveIt->getNFingers()) )) {
    i.second->print();
}

}

**************************** SIMPLE ACTION MANUALLY CREATED ***********************************************

example only doable if maps is not empty

if (maps.first.size() != 0 ) {
    ROSEE::JointPos jp;

for now copy jp of another action jp = ROSEE::operator*(maps.first.begin()->second.getJointPos(), 2); auto jpc = maps.first.begin()->second.getJointsInvolvedCount();

ROSEE::ActionGeneric simpleAction("casual", jp, jpc); std::cout << std::endl << "Casual action manually created: " << std::endl;

simpleAction.print();

yamlWorker.createYamlFile( &simpleAction, folderForActions + "/generics/" );

mapsHandler.parseAllGenerics (folderForActions + "/generics/"); //NOTE already called before

std::cout << "The parsed casual: " << std::endl; mapsHandler.getGeneric("casual")->print(); }

**************************** TIMED ACTION THINGS***************************** EXAMPLE ONLY VALID FOR SPECIFIC HANDS

Definition at line 30 of file UniversalFindActions.cpp.