An action composed by other ones that must be executed one after other with some wait time (also 0) in between. E.G. 0.000000second --—> Grasp --—> 0.1 + 0.1 second --—> OpenLid --—> 0.5second -— and so on This class contains all the joint position of each action (actionsJointPosMap ) and some time margins which indicates wait time before and after the action (actionsTimeMarginsMap). Each action inside is identified by its name, so no two action with same name can exist (see insertAction ) After create the ActionTimed object, we can add actions with insertAction(). As all other Action classes, it implements also functions to emit and parse in a yaml file. More...

#include <ActionTimed.h>

Inheritance diagram for ROSEE::ActionTimed:

[legend]

Public Types
typedef std::shared_ptr< const ActionTimed >	ConstPtr

typedef std::shared_ptr< ActionTimed >	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
	ActionTimed ()
	Default constructor, used when parsing action from yaml file. More...

	ActionTimed (std::string actionName)
	Costructor. More...

void	emitYaml (YAML::Emitter &out) const override
	Emit info in a file with yaml format. More...

bool	fillFromYaml (YAML::const_iterator yamlIt) override
	Fill the internal data with infos taken from yaml file. More...

std::pair< double, double >	getActionMargins (std::string actionName) const
	get for time margins More...

std::vector< std::pair< double, double > >	getAllActionMargins () const
	get all the time margins of all inner action More...

std::vector< ROSEE::JointsInvolvedCount >	getAllJointCountAction () const
	Get the JointsInvolvedCount maps of all the inner actions, in order. More...

std::vector< ROSEE::JointPos >	getAllJointPos () const override
	Override function from father Action. For this class, it returns the jointPos of all the inner actions that are inside this ActionTimed. More...

std::vector< std::string >	getInnerActionsNames () const
	getter for action that composed this one More...

ROSEE::JointsInvolvedCount	getJointCountAction (std::string actionName) const
	get for JointsInvolvedCount of the inner actions More...

JointPos	getJointPos () const override
	Override this function is necessary because it is pure virtual in father class Action. More...

ROSEE::JointPos	getJointPosAction (std::string actionName) const
	get for joint positions More...

bool	insertAction (ROSEE::Action::Ptr action, double marginBefore=0.0, double marginAfter=0.0, unsigned int jointPosIndex=0, double percentJointPos=1, std::string newActionName="")
	Insert an action as last one in the time line. More...

void	print () const override
	Print info about this action. More...

	~ActionTimed ()
	Destructor. 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	~Action ()

Private Attributes
std::map< std::string, ROSEE::JointsInvolvedCount >	actionsJointCountMap

std::map< std::string, ROSEE::JointPos >	actionsJointPosMap

std::vector< std::string >	actionsNamesOrdered

std::map< std::string, std::pair< double, double > >	actionsTimeMarginsMap

ROSEE::JointPos	jointPosFinal

Additional Inherited Members
Protected Member Functions inherited from ROSEE::Action
	Action ()

	Action (std::string actionName, Action::Type type)

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

JointsInvolvedCount	jointsInvolvedCount

std::string	name

Action::Type	type

Detailed Description

An action composed by other ones that must be executed one after other with some wait time (also 0) in between. E.G. 0.000000second --—> Grasp --—> 0.1 + 0.1 second --—> OpenLid --—> 0.5second -— and so on This class contains all the joint position of each action (actionsJointPosMap ) and some time margins which indicates wait time before and after the action (actionsTimeMarginsMap). Each action inside is identified by its name, so no two action with same name can exist (see insertAction ) After create the ActionTimed object, we can add actions with insertAction(). As all other Action classes, it implements also functions to emit and parse in a yaml file.

Todo:: identify inner actions with integer instead of given name?

Definition at line 39 of file ActionTimed.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 43 of file ActionTimed.h.

◆ Ptr

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

Definition at line 42 of file ActionTimed.h.

Constructor & Destructor Documentation

◆ ActionTimed() [1/2]

ROSEE::ActionTimed::ActionTimed ( )

Default constructor, used when parsing action from yaml file.

Definition at line 19 of file ActionTimed.cpp.

◆ ActionTimed() [2/2]

ROSEE::ActionTimed::ActionTimed ( std::string actionName )

Costructor.

Parameters

actionName name of the action that will be created

Definition at line 23 of file ActionTimed.cpp.

◆ ~ActionTimed()

ROSEE::ActionTimed::~ActionTimed ( )

inline

Destructor.

Definition at line 58 of file ActionTimed.h.

Member Function Documentation

◆ emitYaml()

void ROSEE::ActionTimed::emitYaml ( YAML::Emitter & out ) const

overridevirtual

Emit info in a file with yaml format.

Parameters

out	a YAML::Emitter& object to emit the infos

Implements ROSEE::Action.

Definition at line 142 of file ActionTimed.cpp.

◆ fillFromYaml()

bool ROSEE::ActionTimed::fillFromYaml ( YAML::const_iterator yamlIt )

overridevirtual

Fill the internal data with infos taken from yaml file.

Parameters

yamlIt a yamlt iterator to a node which has loaded the file

Returns: false if some error happened

Implements ROSEE::Action.

Definition at line 222 of file ActionTimed.cpp.

◆ getActionMargins()

std::pair< double, double > ROSEE::ActionTimed::getActionMargins ( std::string actionName ) const

get for time margins

Parameters

actionName the name of the inner action of which we want to know the time margins

Returns: a pair of positive double. The first is the time needed BEFORE the action, the secont the time AFTER return -1 -1 if the actionName was not present in this ActionTimed.

Definition at line 88 of file ActionTimed.cpp.

◆ getAllActionMargins()

std::vector< std::pair< double, double > > ROSEE::ActionTimed::getAllActionMargins ( ) const

get all the time margins of all inner action

Returns: vector of pair : the first element of pair is the time to wait before executing the action, the second element the time to wait after.

Definition at line 51 of file ActionTimed.cpp.

◆ getAllJointCountAction()

std::vector< ROSEE::JointsInvolvedCount > ROSEE::ActionTimed::getAllJointCountAction ( ) const

Get the JointsInvolvedCount maps of all the inner actions, in order.

Returns: vector of JointsInvolvedCount map of inner actions

Definition at line 41 of file ActionTimed.cpp.

◆ getAllJointPos()

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

overridevirtual

Override function from father Action. For this class, it returns the jointPos of all the inner actions that are inside this ActionTimed.

Returns: vector of JointPos of all the inner actions, in order of execution

Implements ROSEE::Action.

Definition at line 31 of file ActionTimed.cpp.

◆ getInnerActionsNames()

std::vector< std::string > ROSEE::ActionTimed::getInnerActionsNames ( ) const

getter for action that composed this one

Returns: vector of string of inner actions, ordered by time execution

Definition at line 101 of file ActionTimed.cpp.

◆ getJointCountAction()

ROSEE::JointsInvolvedCount ROSEE::ActionTimed::getJointCountAction ( std::string actionName ) const

get for JointsInvolvedCount of the inner actions

Parameters

actionName the name of the inner action of which we want to know the JointCount

Returns: JointsInvolvedCount of joints of actionName Return empty JointsInvolvedCount if actionName is not present in this ActionTimed

Definition at line 74 of file ActionTimed.cpp.

◆ getJointPos()

ROSEE::JointPos ROSEE::ActionTimed::getJointPos ( ) const

overridevirtual

Override this function is necessary because it is pure virtual in father class Action.

Returns: JointPos the joints positions of the last inserted action (the last one in the time line)

Implements ROSEE::Action.

Definition at line 27 of file ActionTimed.cpp.

◆ getJointPosAction()

ROSEE::JointPos ROSEE::ActionTimed::getJointPosAction ( std::string actionName ) const

get for joint positions

Parameters

actionName the name of the inner action of which we want to know the JointPos

Returns: JointPos position of joints of actionName Return empty JointPos if actionName is not present in this ActionTimed

Definition at line 61 of file ActionTimed.cpp.

◆ insertAction()

bool ROSEE::ActionTimed::insertAction	(	ROSEE::Action::Ptr	action,
		double	marginBefore = `0.0`,
		double	marginAfter = `0.0`,
		unsigned int	jointPosIndex = `0`,
		double	percentJointPos = `1`,
		std::string	newActionName = `""`
	)

Insert an action as last one in the time line.

Parameters

action	pointer to the action to be inserted
marginBefore	the time margin to wait before executing the `action`
marginAfter	the time margin to wait after executing the `action`
jointPosIndex	(default == 0) the wanted jointPos of `action` to insert. Error the index is greater than the number of joint pos in the `action`. First element has index 0.
percentJointPos	(default == 1) OPTIONAL argument to scale all the joint position of the `action` that is being inserted
newActionName	(default == "") OPTIONAL argument if we want to store the `action` with a different name

Returns: False if some error happened

Warning: We can't have inned actions with same name. So, if action name (or newActionName) is already present, the action is not inserted and the function returns false. Being Action names not changeable, to solve this we can pass the newActionName argument to this function. If it will be inserted, it will be referenced with this new name

Note: We take only necessary infos from action and store them in the members of ActionTimed. There is not way to go back to the original inserted action from an ActionTimed

Definition at line 291 of file ActionTimed.cpp.

◆ print()

void ROSEE::ActionTimed::print ( ) const

overridevirtual

Print info about this action.

Reimplemented from ROSEE::Action.

Definition at line 106 of file ActionTimed.cpp.

Member Data Documentation

◆ actionsJointCountMap

std::map<std::string, ROSEE::JointsInvolvedCount> ROSEE::ActionTimed::actionsJointCountMap

private

Definition at line 156 of file ActionTimed.h.

◆ actionsJointPosMap

std::map<std::string, ROSEE::JointPos> ROSEE::ActionTimed::actionsJointPosMap

private

Definition at line 155 of file ActionTimed.h.

◆ actionsNamesOrdered

std::vector< std::string > ROSEE::ActionTimed::actionsNamesOrdered

private

This vector is used to take count of the order of the actions inserted

Definition at line 167 of file ActionTimed.h.

◆ actionsTimeMarginsMap

std::map<std::string, std::pair<double, double> > ROSEE::ActionTimed::actionsTimeMarginsMap

private

Definition at line 154 of file ActionTimed.h.

◆ jointPosFinal

ROSEE::JointPos ROSEE::ActionTimed::jointPosFinal

private

Here is contained the wanted final position of the timed action. So, it is the sum of all the wanted joint position of all the inner actions

Definition at line 162 of file ActionTimed.h.

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

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ ActionTimed() [1/2]

◆ ActionTimed() [2/2]

◆ ~ActionTimed()

Member Function Documentation

◆ emitYaml()

◆ fillFromYaml()

◆ getActionMargins()

◆ getAllActionMargins()

◆ getAllJointCountAction()

◆ getAllJointPos()

◆ getInnerActionsNames()

◆ getJointCountAction()

◆ getJointPos()

◆ getJointPosAction()

◆ insertAction()

◆ print()

Member Data Documentation

◆ actionsJointCountMap

◆ actionsJointPosMap

◆ actionsNamesOrdered

◆ actionsTimeMarginsMap

◆ jointPosFinal