Class to handle a generic, simple action. Differently from other class, this is easily creable manually, for ex giving a name and a JointPos map to the costructor. It contains essential infos about the action, and override the necessary pure virtual functions of base class Action. More...

#include <ActionGeneric.h>

Inheritance diagram for ROSEE::ActionGeneric:

[legend]

Public Types
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 @remind if you change this enum, change also the ROSEEControl.msg accordingly. More...

Public Member Functions
	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)

virtual void	emitYaml (YAML::Emitter &out) 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...

virtual bool	fillFromYaml (YAML::const_iterator yamlIt) override
	function to fill members of the Action with infos taken from yaml files More...

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 void	print () const
	Overridable functions, if we want to make them more action-specific. More...

virtual	~Action ()

Protected Member Functions
	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
JointPos	jointPos

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

JointsInvolvedCount	jointsInvolvedCount

std::string	name

Action::Type	type

Detailed Description

Class to handle a generic, simple action. Differently from other class, this is easily creable manually, for ex giving a name and a JointPos map to the costructor. It contains essential infos about the action, and override the necessary pure virtual functions of base class Action.

Definition at line 32 of file ActionGeneric.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 36 of file ActionGeneric.h.

◆ Ptr

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

Definition at line 35 of file ActionGeneric.h.

Constructor & Destructor Documentation

◆ ActionGeneric() [1/5]

ROSEE::ActionGeneric::ActionGeneric ( )

default costructor. It is used when parsing a file with YamlWorker,

Warning: If you use this costructor, then you must fill internal structures with fillFromYaml (or using YamlWorker support class), it is the only way to set the internal infos (e.g. there is not a setName( name ) function ). If you have not a Yaml file to parse, use other costructors.

Definition at line 20 of file ActionGeneric.cpp.

◆ ActionGeneric() [2/5]

ROSEE::ActionGeneric::ActionGeneric	(	std::string	actionName,
		ROSEE::JointPos	jointPos
	)

Simpliest costructor, need only essential infos.

Note: This costructor create jointsInvolvedCount map. To do this, it considers a "not set" joint (count == 0) a joint which pos is 0. If you do not want this, pass also your JointsInvolvedCount map to the costructor

Definition at line 24 of file ActionGeneric.cpp.

◆ ActionGeneric() [3/5]

ROSEE::ActionGeneric::ActionGeneric	(	std::string	actionName,
		ROSEE::JointPos	jointPos,
		JointsInvolvedCount	jic
	)

Another costructor.

Parameters

actionName	the name of this action
jointPos	map containing position of ALL joints of your robot
jic	map of counters of times of joints involved (e.g. joint not used --> 0 ; joint used for the action --> 1)

Exceptions

Be	sure that keys of jointPos and jic are the same, otherwise exception is throw

Definition at line 41 of file ActionGeneric.cpp.

◆ ActionGeneric() [4/5]

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

Definition at line 68 of file ActionGeneric.cpp.

◆ ActionGeneric() [5/5]

ROSEE::ActionGeneric::ActionGeneric ( std::string actionName )

protected

this costructor is only for derived class

Definition at line 22 of file ActionGeneric.cpp.

Member Function Documentation

◆ emitYaml()

void ROSEE::ActionGeneric::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.

Implements ROSEE::Action.

Reimplemented in ROSEE::ActionComposed.

Definition at line 107 of file ActionGeneric.cpp.

◆ fillFromYaml()

bool ROSEE::ActionGeneric::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.

Reimplemented in ROSEE::ActionComposed.

Definition at line 130 of file ActionGeneric.cpp.

◆ getAllJointPos()

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

overridevirtual

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.

Returns: JointsPos the map indicating the position of the joints

Implements ROSEE::Action.

Definition at line 101 of file ActionGeneric.cpp.

◆ getJointPos()

ROSEE::JointPos ROSEE::ActionGeneric::getJointPos ( ) const

overridevirtual

Get the joint position related to this action, overriden from Action.

Returns: JointsPos the map indicating the position of the joints

Implements ROSEE::Action.

Definition at line 97 of file ActionGeneric.cpp.

Member Data Documentation

◆ jointPos

JointPos ROSEE::ActionGeneric::jointPos

protected

Definition at line 94 of file ActionGeneric.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

◆ ActionGeneric() [1/5]

◆ ActionGeneric() [2/5]

◆ ActionGeneric() [3/5]

◆ ActionGeneric() [4/5]

◆ ActionGeneric() [5/5]

Member Function Documentation

◆ emitYaml()

◆ fillFromYaml()

◆ getAllJointPos()

◆ getJointPos()

Member Data Documentation

◆ jointPos