The base class defining actions. More...

#include <actionPrimitives.h>

Inheritance diagram for iCub::action::ActionPrimitives:

Classes
struct	Action

class	ActionsQueue

struct	HandWayPoint

Public Member Functions
	ActionPrimitives ()
	Default Constructor.

	ActionPrimitives (yarp::os::Property &opt)
	Constructor.

virtual	~ActionPrimitives ()
	Destructor.

virtual bool	open (yarp::os::Property &opt)
	Configure the object.

virtual bool	isValid () const
	Check if the object is initialized correctly.

virtual void	close ()
	Deallocate the object.

virtual bool	pushAction (const yarp::sig::Vector &x, const yarp::sig::Vector &o, const std::string &handSeqKey, const double execTime=ACTIONPRIM_DISABLE_EXECTIME, ActionPrimitivesCallback *clb=NULL)
	Insert a combination of arm and hand primitive actions in the actions queue.

virtual bool	pushAction (const yarp::sig::Vector &x, const std::string &handSeqKey, const double execTime=ACTIONPRIM_DISABLE_EXECTIME, ActionPrimitivesCallback *clb=NULL)
	Insert a combination of arm and hand primitive actions in the actions queue.

virtual bool	pushAction (const yarp::sig::Vector &x, const yarp::sig::Vector &o, const double execTime=ACTIONPRIM_DISABLE_EXECTIME, ActionPrimitivesCallback *clb=NULL)
	Insert the arm-primitive action reach for target in the actions queue.

virtual bool	pushAction (const yarp::sig::Vector &x, const double execTime=ACTIONPRIM_DISABLE_EXECTIME, ActionPrimitivesCallback *clb=NULL)
	Insert the arm-primitive action reach for target in the actions queue.

virtual bool	pushAction (const std::string &handSeqKey, ActionPrimitivesCallback *clb=NULL)
	Insert a hand-primitive action in the actions queue.

virtual bool	pushAction (const std::deque< ActionPrimitivesWayPoint > &wayPoints, ActionPrimitivesCallback *clb=NULL)
	Insert in the actions queue a trajectory in the operational space parametrized in terms of waypoints.

virtual bool	pushAction (const std::deque< ActionPrimitivesWayPoint > &wayPoints, const std::string &handSeqKey, ActionPrimitivesCallback *clb=NULL)
	Insert in the actions queue a combination of hand and arm trajectory in the operational space parametrized in terms of waypoints.

virtual bool	pushWaitState (const double tmo, ActionPrimitivesCallback *clb=NULL)
	Insert a wait state in the actions queue.

virtual bool	reachPose (const yarp::sig::Vector &x, const yarp::sig::Vector &o, const double execTime=ACTIONPRIM_DISABLE_EXECTIME)
	Immediately update the current reaching target (without affecting the actions queue) or initiate a new reach (if the actions queue is empty).

virtual bool	reachPosition (const yarp::sig::Vector &x, const double execTime=ACTIONPRIM_DISABLE_EXECTIME)
	Immediately update the current reaching target (without affecting the actions queue) or initiate a new reach (if the actions queue is empty).

virtual bool	clearActionsQueue ()
	Empty the actions queue.

virtual bool	lockActions ()
	Disable the possibility to yield any new action.

virtual bool	unlockActions ()
	Enable the possibility to yield new actions.

virtual bool	getActionsLockStatus () const
	Return the actions lock status.

virtual bool	addHandSeqWP (const std::string &handSeqKey, const yarp::sig::Vector &poss, const yarp::sig::Vector &vels, const yarp::sig::Vector &tols, const yarp::sig::Vector &thres, const double tmo)
	Define an hand WayPoint (WP) to be added at the bottom of the hand motion sequence pointed by the key.

virtual bool	addHandSequence (const std::string &handSeqKey, const yarp::os::Bottle &sequence)
	Define an hand motion sequence from a configuration bottle.

virtual bool	isValidHandSeq (const std::string &handSeqKey)
	Check whether a sequence key is defined.

virtual bool	removeHandSeq (const std::string &handSeqKey)
	Remove an already existing hand motion sequence.

std::deque< std::string >	getHandSeqList ()
	Return the list of available hand sequence keys.

virtual bool	getHandSequence (const std::string &handSeqKey, yarp::os::Bottle &sequence)
	Return a hand sequence.

virtual bool	areFingersMoving (bool &f)
	Query if fingers are moving.

virtual bool	areFingersInPosition (bool &f)
	Query if fingers are in position (cumulative response).

virtual bool	areFingersInPosition (std::deque< bool > &f)
	Query if fingers are in position (finger-wise response).

virtual bool	getGraspModel (perception::Model *&model) const
	Return the model used internally to detect external contacts.

virtual bool	getCartesianIF (yarp::dev::ICartesianControl *&ctrl) const
	Return the cartesian interface used internally to control the limb.

virtual bool	getTorsoJoints (yarp::sig::Vector &torso)
	Return the control status of torso joints.

virtual bool	setTorsoJoints (const yarp::sig::Vector &torso)
	Change the control status of torso joints.

virtual bool	getPose (yarp::sig::Vector &x, yarp::sig::Vector &o) const
	Get the current arm pose.

virtual bool	stopControl ()
	Stop any ongoing arm/hand movements.

virtual bool	setDefaultExecTime (const double execTime)
	Set the default arm movement execution time.

virtual double	getDefaultExecTime () const
	Get the current default arm movement execution time.

virtual bool	setTrackingMode (const bool f)
	Set the task space controller in tracking or non-tracking mode.

virtual bool	getTrackingMode () const
	Get the current controller mode.

virtual bool	enableArmWaving (const yarp::sig::Vector &restPos)
	Enable the waving mode that keeps on moving the arm around a predefined position.

virtual bool	disableArmWaving ()
	Disable the waving mode.

virtual bool	enableReachingTimeout (const double tmo)
	Enable timeout while reaching.

virtual bool	disableReachingTimeout ()
	Disable timeout while reaching.

virtual bool	checkActionsDone (bool &f, const bool sync=false)
	Check whether all the actions in queue are accomplished.

virtual bool	checkActionOnGoing (bool &f, const bool sync=false)
	Check whether an action is still ongoing.

virtual bool	syncCheckInterrupt (const bool disable=false)
	Suddenly interrupt any blocking call that is pending on querying the action status.

virtual bool	syncCheckReinstate ()
	Reinstate the blocking feature for future calls with sync switch on.

Protected Member Functions
virtual void	printMessage (const int logtype, const char *format,...) const

virtual bool	handleTorsoDOF (yarp::os::Property &opt, const std::string &key)

virtual void	disableTorsoDof ()

virtual void	enableTorsoDof ()

virtual bool	configHandSeq (yarp::os::Property &opt)

virtual bool	configGraspModel (yarp::os::Property &opt)

virtual bool	_pushAction (const bool execArm, const yarp::sig::Vector &x, const yarp::sig::Vector &o, const double execTime, const bool oEnabled, const bool execHand, const HandWayPoint &handWP, const bool handSeqTerminator, ActionPrimitivesCallback *clb)

virtual bool	_pushAction (const yarp::sig::Vector &x, const yarp::sig::Vector &o, const std::string &handSeqKey, const double execTime, ActionPrimitivesCallback *clb, const bool oEnabled)

virtual bool	handCheckMotionDone (const int jnt)

virtual bool	wait (const Action &action)

virtual bool	cmdArm (const Action &action)

virtual bool	cmdArmWP (const Action &action)

virtual bool	cmdHand (const Action &action)

virtual bool	isHandSeqEnded ()

virtual void	postReachCallback ()

virtual void	init ()

virtual bool	execQueuedAction ()

virtual bool	execPendingHandSequences ()

virtual void	run ()

Protected Attributes
std::string	robot

std::string	local

std::string	part

yarp::dev::PolyDriver	polyHand

yarp::dev::PolyDriver	polyCart

yarp::dev::IControlMode *	modCtrl

yarp::dev::IEncoders *	encCtrl

yarp::dev::IPositionControl *	posCtrl

yarp::dev::ICartesianControl *	cartCtrl

perception::Model *	graspModel

yarp::os::PeriodicThread *	armWaver

std::mutex	mtx

std::mutex	mtx_motionStartEvent

std::condition_variable	cv_motionStartEvent

std::mutex	mtx_motionDoneEvent

std::condition_variable	cv_motionDoneEvent

bool	armMoveDone

bool	handMoveDone

bool	latchArmMoveDone

bool	latchHandMoveDone

bool	handSeqTerminator

bool	fingersInPosition

std::deque< bool >	fingerInPosition

bool	configured

bool	closed

bool	checkEnabled

bool	tracking_mode

bool	torsoActive

bool	reachTmoEnabled

bool	locked

bool	verbose

double	default_exec_time

double	waitTmo

double	reachTmo

double	latchTimerWait

double	latchTimerReach

double	latchTimerReachLog

int	jHandMin

int	jHandMax

yarp::sig::Vector	enableTorsoSw

yarp::sig::Vector	disableTorsoSw

yarp::sig::Vector	curHandFinalPoss

yarp::sig::Vector	curHandTols

yarp::sig::Vector	curGraspDetectionThres

double	curHandTmo

double	latchTimerHand

std::vector< int >	fingersJnts

std::set< int >	fingersJntsSet

std::set< int >	fingersMovingJntsSet

std::multimap< int, int >	fingers2JntsMap

ActionPrimitivesCallback *	actionClb

yarp::os::PeriodicThread *	actionWP

iCub::action::ActionPrimitives::ActionsQueue	actionsQueue

std::map< std::string, std::deque< HandWayPoint > >	handSeqMap

Friends
class	ArmWayPoints

Detailed Description

The base class defining actions.

It allows executing arm (in task-space, e.g. reach()) and hand (in joint-space) primitive actions and to combine them in the actions queue.

Definition at line 193 of file actionPrimitives.h.

Constructor & Destructor Documentation

◆ ActionPrimitives() [1/2]

ActionPrimitives::ActionPrimitives ( )

Default Constructor.

Definition at line 323 of file actionPrimitives.cpp.

◆ ActionPrimitives() [2/2]

iCub::action::ActionPrimitives::ActionPrimitives ( yarp::os::Property & opt )

Constructor.

Parameters

opt	the Property used to configure the object after its creation.

◆ ~ActionPrimitives()

ActionPrimitives::~ActionPrimitives ( )

virtual

Destructor.

Note: it calls the close() method.

Definition at line 1359 of file actionPrimitives.cpp.

Member Function Documentation

◆ _pushAction() [1/2]

virtual bool iCub::action::ActionPrimitives::_pushAction	(	const bool	execArm,
		const yarp::sig::Vector &	x,
		const yarp::sig::Vector &	o,
		const double	execTime,
		const bool	oEnabled,
		const bool	execHand,
		const HandWayPoint &	handWP,
		const bool	handSeqTerminator,
		ActionPrimitivesCallback *	clb
	)

protectedvirtual

◆ _pushAction() [2/2]

virtual bool iCub::action::ActionPrimitives::_pushAction	(	const yarp::sig::Vector &	x,
		const yarp::sig::Vector &	o,
		const std::string &	handSeqKey,
		const double	execTime,
		ActionPrimitivesCallback *	clb,
		const bool	oEnabled
	)

protectedvirtual

◆ addHandSequence()

bool ActionPrimitives::addHandSequence	(	const std::string &	handSeqKey,
		const yarp::os::Bottle &	sequence
	)

virtual

Define an hand motion sequence from a configuration bottle.

Parameters

handSeqKey	the hand sequence key.
sequence	the configuration bottle.

See also: open

Returns: true/false on success/fail.

Definition at line 1559 of file actionPrimitives.cpp.

◆ addHandSeqWP()

bool ActionPrimitives::addHandSeqWP	(	const std::string &	handSeqKey,
		const yarp::sig::Vector &	poss,
		const yarp::sig::Vector &	vels,
		const yarp::sig::Vector &	tols,
		const yarp::sig::Vector &	thres,
		const double	tmo
	)

virtual

Define an hand WayPoint (WP) to be added at the bottom of the hand motion sequence pointed by the key.

Parameters

handSeqKey	the hand sequence key.
poss	the 9 fingers joints WP positions to be attained [deg].
vels	the 9 fingers joints velocities [deg/s].
tols	the 9 fingers joints tolerances [deg] used to detect end motion condition (motion is considered finished if \|des(i)-fb(i)\|<tols(i)).
thres	the 5 fingers thresholds used for grasp detection.
tmo	the wayPoint timeout.

Returns: true/false on success/fail.

Note: this method creates a new empty wayPoint referred by the passed key if the key does not point to any valid sequence; hence the set (poss,vels,thres,tmo) will be the first WP of the new sequence.

Definition at line 1534 of file actionPrimitives.cpp.

◆ areFingersInPosition() [1/2]

bool ActionPrimitives::areFingersInPosition ( bool & f )

virtual

Query if fingers are in position (cumulative response).

Parameters

f	the result of the check.

Returns: true/false on success/fail.

Note: Fingers are intended to be in position if they have attained the desired position or while moving they follow the desired trajectory. Any possible contact among fingers or with objects causes the method to return false.

Definition at line 1767 of file actionPrimitives.cpp.

◆ areFingersInPosition() [2/2]

bool ActionPrimitives::areFingersInPosition ( std::deque< bool > & f )

virtual

Query if fingers are in position (finger-wise response).

Parameters

f	a list containing the result of the single checks.

Returns: true/false on success/fail.

Note: Fingers are intended to be in position if they have attained the desired position or while moving they follow the desired trajectory. Any possible contact among fingers or with objects causes the method to return false.

Definition at line 1781 of file actionPrimitives.cpp.

◆ areFingersMoving()

bool ActionPrimitives::areFingersMoving ( bool & f )

virtual

Query if fingers are moving.

Parameters

f	the result of the check.

Returns: true/false on success/fail.

Definition at line 1753 of file actionPrimitives.cpp.

◆ checkActionOnGoing()

bool ActionPrimitives::checkActionOnGoing	(	bool &	f,
		const bool	sync = `false`
	)

virtual

Check whether an action is still ongoing.

Parameters

f	the result of the check.
sync	if true wait that at least one action has just started (blocking call).

Returns: true/false on success/fail.

Note: Sometimes it might be helpful to wait in the calling module until the beginning of the action inserted in the queue. For example:
pushAction(A);

checkActionOnGoing(f,true);

// perform some computations that require the motion has been

// started off

checkActionsDone(f,true);

iCub::action::ActionPrimitives::checkActionOnGoing
virtual bool checkActionOnGoing(bool &f, const bool sync=false)
Check whether an action is still ongoing.
Definition actionPrimitives.cpp:2023

iCub::action::ActionPrimitives::pushAction
virtual bool pushAction(const yarp::sig::Vector &x, const yarp::sig::Vector &o, const std::string &handSeqKey, const double execTime=ACTIONPRIM_DISABLE_EXECTIME, ActionPrimitivesCallback *clb=NULL)
Insert a combination of arm and hand primitive actions in the actions queue.

iCub::action::ActionPrimitives::checkActionsDone
virtual bool checkActionsDone(bool &f, const bool sync=false)
Check whether all the actions in queue are accomplished.
Definition actionPrimitives.cpp:2003

f
f
Definition compute_ekf_sym.m:22

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Definition sine.m:16

Definition at line 2023 of file actionPrimitives.cpp.

◆ checkActionsDone()

bool ActionPrimitives::checkActionsDone	(	bool &	f,
		const bool	sync = `false`
	)

virtual

Check whether all the actions in queue are accomplished.

Parameters

f	the result of the check.
sync	if true wait until all actions are accomplished (blocking call).

Returns: true/false on success/fail.

Note: As specified the check is performed on the content of the actions queue so that the blocking call returns as soon as the queue is empty.

Definition at line 2003 of file actionPrimitives.cpp.

◆ clearActionsQueue()

bool ActionPrimitives::clearActionsQueue ( )

virtual

Empty the actions queue.

Returns: true/false on success/fail.

Definition at line 825 of file actionPrimitives.cpp.

◆ close()

void ActionPrimitives::close ( )

virtual

Deallocate the object.

Reimplemented in iCub::action::ActionPrimitivesLayer2.

Definition at line 703 of file actionPrimitives.cpp.

◆ cmdArm()

bool ActionPrimitives::cmdArm ( const Action & action )

protectedvirtual

Definition at line 1419 of file actionPrimitives.cpp.

◆ cmdArmWP()

bool ActionPrimitives::cmdArmWP ( const Action & action )

protectedvirtual

Definition at line 1468 of file actionPrimitives.cpp.

◆ cmdHand()

bool ActionPrimitives::cmdHand ( const Action & action )

protectedvirtual

Definition at line 1486 of file actionPrimitives.cpp.

◆ configGraspModel()

bool ActionPrimitives::configGraspModel ( yarp::os::Property & opt )

protectedvirtual

Definition at line 531 of file actionPrimitives.cpp.

◆ configHandSeq()

bool ActionPrimitives::configHandSeq ( yarp::os::Property & opt )

protectedvirtual

Definition at line 467 of file actionPrimitives.cpp.

◆ disableArmWaving()

bool ActionPrimitives::disableArmWaving ( )

virtual

Disable the waving mode.

Returns: true/false on success/failure.

Definition at line 1960 of file actionPrimitives.cpp.

◆ disableReachingTimeout()

bool ActionPrimitives::disableReachingTimeout ( )

virtual

Disable timeout while reaching.

Returns: true/false on success/failure.

Definition at line 1990 of file actionPrimitives.cpp.

◆ disableTorsoDof()

void ActionPrimitives::disableTorsoDof ( )

protectedvirtual

Definition at line 1390 of file actionPrimitives.cpp.

◆ enableArmWaving()

bool ActionPrimitives::enableArmWaving ( const yarp::sig::Vector & restPos )

virtual

Enable the waving mode that keeps on moving the arm around a predefined position.

Parameters

restPos the 3-d position around which to wave.

Note: useful to give a kind of more human perception when the arm is homed. This mode is automatically disabled each time a new action is commanded.

Returns: true/false on success/failure.

Definition at line 1941 of file actionPrimitives.cpp.

◆ enableReachingTimeout()

bool ActionPrimitives::enableReachingTimeout ( const double tmo )

virtual

Enable timeout while reaching.

Parameters

tmo	the timeout given in seconds.

Note: if a reaching task is not accomplished within the timeout, then the action is considered done.

Returns: true/false on success/failure.

Definition at line 1975 of file actionPrimitives.cpp.

◆ enableTorsoDof()

void ActionPrimitives::enableTorsoDof ( )

protectedvirtual

Definition at line 1377 of file actionPrimitives.cpp.

◆ execPendingHandSequences()

bool ActionPrimitives::execPendingHandSequences ( )

protectedvirtual

Definition at line 1247 of file actionPrimitives.cpp.

◆ execQueuedAction()

bool ActionPrimitives::execQueuedAction ( )

protectedvirtual

Definition at line 1206 of file actionPrimitives.cpp.

◆ getActionsLockStatus()

bool ActionPrimitives::getActionsLockStatus ( ) const

virtual

Return the actions lock status.

Returns: true/false on locked/unlocked.

Definition at line 865 of file actionPrimitives.cpp.

◆ getCartesianIF()

bool ActionPrimitives::getCartesianIF ( yarp::dev::ICartesianControl *& ctrl ) const

virtual

Return the cartesian interface used internally to control the limb.

Parameters

ctrl	the cartesian interface.

Returns: true/false on success/fail.

Note: Useful to access solver's options through the Cartesian Interface.

Definition at line 1808 of file actionPrimitives.cpp.

◆ getDefaultExecTime()

double ActionPrimitives::getDefaultExecTime ( ) const

virtual

Get the current default arm movement execution time.

Returns: current execution time given in seconds.

Definition at line 1909 of file actionPrimitives.cpp.

◆ getGraspModel()

bool ActionPrimitives::getGraspModel ( perception::Model *& model ) const

virtual

Return the model used internally to detect external contacts.

Parameters

model the perceptive model.

Returns: true/false on success/fail.

Note: Useful to access the model methods as defined in perceptiveModels library, such as the calibration procedures.

Definition at line 1795 of file actionPrimitives.cpp.

◆ getHandSeqList()

deque< string > ActionPrimitives::getHandSeqList ( )

Return the list of available hand sequence keys.

Returns: the list of available hand sequence keys.

Definition at line 1677 of file actionPrimitives.cpp.

◆ getHandSequence()

bool ActionPrimitives::getHandSequence	(	const std::string &	handSeqKey,
		yarp::os::Bottle &	sequence
	)

virtual

Return a hand sequence.

Parameters

handSeqKey	the hand sequence key.
sequence	the bottle containing the sequence

Returns: true iff valid key.

Definition at line 1690 of file actionPrimitives.cpp.

◆ getPose()

bool ActionPrimitives::getPose	(	yarp::sig::Vector &	x,
		yarp::sig::Vector &	o
	)		const

virtual

Get the current arm pose.

Parameters

x	a 3-d vector which is filled with the actual position x,y,z (meters).
od	a 4-d vector which is filled with the actual orientation using axis-angle representation xa, ya, za, theta (meters and radians).

Returns: true/false on success/failure.

Definition at line 1850 of file actionPrimitives.cpp.

◆ getTorsoJoints()

bool ActionPrimitives::getTorsoJoints ( yarp::sig::Vector & torso )

virtual

Return the control status of torso joints.

Parameters

torso the vector containing the control status of torso joints.

See also: getDOF

Returns: true/false on success/fail.

Note: Unlike the arm, the torso is a part that can be shared, therefore the enabling/disabling of its joints must be properly notified.

Definition at line 1821 of file actionPrimitives.cpp.

◆ getTrackingMode()

bool ActionPrimitives::getTrackingMode ( ) const

virtual

Get the current controller mode.

Returns: true/false on tracking/non-tracking mode.

Definition at line 1934 of file actionPrimitives.cpp.

◆ handCheckMotionDone()

bool ActionPrimitives::handCheckMotionDone ( const int jnt )

protectedvirtual

Definition at line 1366 of file actionPrimitives.cpp.

◆ handleTorsoDOF()

bool ActionPrimitives::handleTorsoDOF	(	yarp::os::Property &	opt,
		const std::string &	key
	)

protectedvirtual

Definition at line 406 of file actionPrimitives.cpp.

◆ init()

void ActionPrimitives::init ( )

protectedvirtual

Reimplemented in iCub::action::ActionPrimitivesLayer2.

Definition at line 340 of file actionPrimitives.cpp.

◆ isHandSeqEnded()

bool ActionPrimitives::isHandSeqEnded ( )

protectedvirtual

Definition at line 748 of file actionPrimitives.cpp.

◆ isValid()

bool ActionPrimitives::isValid ( ) const

virtual

Check if the object is initialized correctly.

Returns: true/fail on success/fail.

Reimplemented in iCub::action::ActionPrimitivesLayer2.

Definition at line 366 of file actionPrimitives.cpp.

◆ isValidHandSeq()

bool ActionPrimitives::isValidHandSeq ( const std::string & handSeqKey )

virtual

Check whether a sequence key is defined.

Parameters

handSeqKey the hand sequence key.

Returns: true iff valid key.

Definition at line 1650 of file actionPrimitives.cpp.

◆ lockActions()

bool ActionPrimitives::lockActions ( )

virtual

Disable the possibility to yield any new action.

Returns: true/false on success/fail.

Definition at line 839 of file actionPrimitives.cpp.

◆ open()

bool ActionPrimitives::open ( yarp::os::Property & opt )

virtual

Configure the object.

Parameters

opt	the Property used to configure the object after its creation.

Returns: true/false on success/fail.

Note: To be called after object creation.; Available options are:

local <string>: specify a stem name used to open local ports and to highlight messages printed on the screen.

robot <string>: the robot name to connect to (e.g. icub).

part <string>: the arm to be controlled (e.g. left_arm).

thread_period <int>: the thread period [ms] which selects the time granularity as well.

default_exec_time <double>: the arm movement execution time [s].

reach_tol <double>: the reaching tolerance [m].

tracking_mode <string>: enable/disable the tracking mode; possible values: "on"/"off".

Note: In tracking mode the cartesian position is mantained on the reached target.

verbosity <string>: enable/disable the verbose mode; possible values: "on"/"off".

torso_pitch <string>: if "on" it enables the control of the pitch of the torso.

torso_pitch_min <double>: set the pitch minimum value [deg].

torso_pitch_max <double>: set the pitch maximum value [deg].

torso_roll <string>: if "on" it enables the control of the roll of the torso.

torso_roll_min <double>: set the roll minimum value [deg].

torso_roll_max <double>: set the roll maximum value [deg].

torso_yaw <string>: if "on" it enables the control of the yaw of the torso.

torso_yaw_min <double>: set the yaw minimum value [deg].

torso_yaw_max <double>: set the yaw maximum value [deg].

grasp_model_type <string>: establish the type of the model used to detect external contacts while moving fingers. It refers to the types implemented within the perceptiveModels library, such as the "springy" or "tactile".

Note: the special tag "none" is used to skip this part.

grasp_model_file <string>: complete path to the file containing the options to initialize the grasp model.

hand_sequences_file <string>: complete path to the file containing the hand motions sequences.
Here is the format of motion sequences:

[GENERAL]
numSequences ***
 
[SEQ_0]
key ***
numWayPoints ***
wp_0  (poss (10 ...)) (vels (20 ...)) (tols (30 ...)) (thres
(1 2 3 4 5)) (tmo 10.0)
wp_1  *** ...
 
[SEQ_1]
...
 
// the "poss", "vels" and "tols" keys specify 9 joints
// positions, velocities and tolerances whereas the "thres"
// key specifies 5 fingers thresholds used for contact detection
// The "tols" key serves to detect the end motion condition.
// The "tmo" key specifies the timeout beyond which the motion
// is considered to be finished.

Note: A port called /<local>/<part>/detectGrasp:i is open to acquire data provided by graspDetector module.

Reimplemented in iCub::action::ActionPrimitivesLayer2.

Definition at line 584 of file actionPrimitives.cpp.

◆ postReachCallback()

void ActionPrimitives::postReachCallback ( )

protectedvirtual

Reimplemented in iCub::action::ActionPrimitivesLayer2.

Definition at line 818 of file actionPrimitives.cpp.

◆ printMessage()

void ActionPrimitives::printMessage	(	const int	logtype,
		const char *	format,
			...
	)		const

protectedvirtual

Definition at line 373 of file actionPrimitives.cpp.

◆ pushAction() [1/7]

bool ActionPrimitives::pushAction	(	const std::deque< ActionPrimitivesWayPoint > &	wayPoints,
		ActionPrimitivesCallback *	clb = `NULL`
	)

virtual

Insert in the actions queue a trajectory in the operational space parametrized in terms of waypoints.

Parameters

wayPoints the list of waypoints that will be used to generate the trajectory.

Note: The first waypoint will act as the end-point of the path whose starting point is the current position of robot end-effector.

Parameters

clb	action callback that is executed when the action ends; none by default.

Returns: true/false on success/fail.

Definition at line 1040 of file actionPrimitives.cpp.

◆ pushAction() [2/7]

bool ActionPrimitives::pushAction	(	const std::deque< ActionPrimitivesWayPoint > &	wayPoints,
		const std::string &	handSeqKey,
		ActionPrimitivesCallback *	clb = `NULL`
	)

virtual

Insert in the actions queue a combination of hand and arm trajectory in the operational space parametrized in terms of waypoints.

Parameters

wayPoints the list of waypoints that will be used to generate the trajectory.

Note: The first waypoint will act as the end-point of the path whose starting point is the current position of robot end-effector.

Parameters

handSeqKey	the hand sequence key.
clb	action callback that is executed when the action ends; none by default.

Returns: true/false on success/fail.

Definition at line 1067 of file actionPrimitives.cpp.

◆ pushAction() [3/7]

bool ActionPrimitives::pushAction	(	const std::string &	handSeqKey,
		ActionPrimitivesCallback *	clb = `NULL`
	)

virtual

Insert a hand-primitive action in the actions queue.

Parameters

handSeqKey	the hand sequence key.
clb	action callback that is executed when the action ends; none by default.

Returns: true/false on success/fail.

Definition at line 1004 of file actionPrimitives.cpp.

◆ pushAction() [4/7]

virtual bool iCub::action::ActionPrimitives::pushAction	(	const yarp::sig::Vector &	x,
		const double	execTime = `ACTIONPRIM_DISABLE_EXECTIME`,
		ActionPrimitivesCallback *	clb = `NULL`
	)

virtual

Insert the arm-primitive action reach for target in the actions queue.

Parameters

x	the 3-d target position [m].
execTime	the arm action execution time [s] (to be specified iff different from default value).
clb	action callback that is executed when the action ends; none by default.

Returns: true/false on success/fail.

◆ pushAction() [5/7]

virtual bool iCub::action::ActionPrimitives::pushAction	(	const yarp::sig::Vector &	x,
		const std::string &	handSeqKey,
		const double	execTime = `ACTIONPRIM_DISABLE_EXECTIME`,
		ActionPrimitivesCallback *	clb = `NULL`
	)

virtual

Insert a combination of arm and hand primitive actions in the actions queue.

Parameters

x	the 3-d target position [m].
handSeqKey	the hand sequence key.
execTime	the arm action execution time [s] (to be specified iff different from default value).
clb	action callback that is executed when the action ends; none by default.

Returns: true/false on success/fail.

Note: Some examples:

the call pushAction(x,"close_hand") pushes the combined action of reachPosition(x) and hand "close_hand" sequence into the queue; the action will be executed as soon as all the previous items in the queue will have been served.

◆ pushAction() [6/7]

virtual bool iCub::action::ActionPrimitives::pushAction	(	const yarp::sig::Vector &	x,
		const yarp::sig::Vector &	o,
		const double	execTime = `ACTIONPRIM_DISABLE_EXECTIME`,
		ActionPrimitivesCallback *	clb = `NULL`
	)

virtual

Insert the arm-primitive action reach for target in the actions queue.

Parameters

x	the 3-d target position [m].
o	the 4-d hand orientation used while reaching (given in axis-angle representation: ax ay az angle in rad).
execTime	the arm action execution time [s] (to be specified iff different from default value).
clb	action callback that is executed when the action ends; none by default.

Returns: true/false on success/fail.

◆ pushAction() [7/7]

virtual bool iCub::action::ActionPrimitives::pushAction	(	const yarp::sig::Vector &	x,
		const yarp::sig::Vector &	o,
		const std::string &	handSeqKey,
		const double	execTime = `ACTIONPRIM_DISABLE_EXECTIME`,
		ActionPrimitivesCallback *	clb = `NULL`
	)

virtual

Insert a combination of arm and hand primitive actions in the actions queue.

Parameters

x	the 3-d target position [m].
o	the 4-d hand orientation used while reaching (given in axis-angle representation: ax ay az angle in rad).
handSeqKey	the hand sequence key.
execTime	the arm action execution time [s] (to be specified iff different from default value).
clb	action callback that is executed when the action ends; none by default.

Returns: true/false on success/fail.

Note: Some examples:

the call pushAction(x,o,"close_hand") pushes the combined action of reachPose(x,o) and hand "close_hand" sequence into the queue; the action will be executed as soon as all the previous items in the queue will have been served.

◆ pushWaitState()

bool ActionPrimitives::pushWaitState	(	const double	tmo,
		ActionPrimitivesCallback *	clb = `NULL`
	)

virtual

Insert a wait state in the actions queue.

Parameters

tmo	is the wait timeout [s].
clb	callback that is executed when the timeout expires; none by default.

Returns: true/false on success/fail.

Definition at line 1125 of file actionPrimitives.cpp.

◆ reachPose()

bool ActionPrimitives::reachPose	(	const yarp::sig::Vector &	x,
		const yarp::sig::Vector &	o,
		const double	execTime = `ACTIONPRIM_DISABLE_EXECTIME`
	)

virtual

Immediately update the current reaching target (without affecting the actions queue) or initiate a new reach (if the actions queue is empty).

Parameters

x	the 3-d target position [m].
o	the 4-d hand orientation used while reaching (given in axis-angle representation: ax ay az angle in rad).
execTime	the arm action execution time [s] (to be specified iff different from default value).

Returns: true/false on success/fail.

Note: The intended use is for tracking moving targets.

Definition at line 1149 of file actionPrimitives.cpp.

◆ reachPosition()

bool ActionPrimitives::reachPosition	(	const yarp::sig::Vector &	x,
		const double	execTime = `ACTIONPRIM_DISABLE_EXECTIME`
	)

virtual

Immediately update the current reaching target (without affecting the actions queue) or initiate a new reach (if the actions queue is empty).

Parameters

x	the 3-d target position [m].
execTime	the arm action execution time [s] (to be specified iff different from default value).

Returns: true/false on success/fail.

Note: The intended use is for tracking moving targets.

Definition at line 1178 of file actionPrimitives.cpp.

◆ removeHandSeq()

bool ActionPrimitives::removeHandSeq ( const std::string & handSeqKey )

virtual

Remove an already existing hand motion sequence.

Parameters

handSeqKey the hand sequence key.

Returns: true/false on success/fail.

Definition at line 1662 of file actionPrimitives.cpp.

◆ run()

void ActionPrimitives::run ( )

protectedvirtual

Reimplemented in iCub::action::ActionPrimitivesLayer2.

Definition at line 1272 of file actionPrimitives.cpp.

◆ setDefaultExecTime()

bool ActionPrimitives::setDefaultExecTime ( const double execTime )

virtual

Set the default arm movement execution time.

Parameters

execTime execution time given in seconds.

Returns: true/false on success/failure.

Definition at line 1896 of file actionPrimitives.cpp.

◆ setTorsoJoints()

bool ActionPrimitives::setTorsoJoints ( const yarp::sig::Vector & torso )

virtual

Change the control status of torso joints.

Parameters

torso the vector containing the control status of torso joints.

See also: setDOF

Returns: true/false on success/fail.

Note: Unlike the arm, the torso is a part that can be shared, therefore the enabling/disabling of its joints must be properly notified.

Definition at line 1834 of file actionPrimitives.cpp.

◆ setTrackingMode()

bool ActionPrimitives::setTrackingMode ( const bool f )

virtual

Set the task space controller in tracking or non-tracking mode.

Parameters

f	true for tracking mode, false otherwise.

Note: In tracking mode the cartesian position is mantained on the reached target.

Returns: true/false on success/failure.

Definition at line 1916 of file actionPrimitives.cpp.

◆ stopControl()

bool ActionPrimitives::stopControl ( )

virtual

Stop any ongoing arm/hand movements.

Returns: true/false on success/fail.

Note: it empty out the actions queue.

Definition at line 1863 of file actionPrimitives.cpp.

◆ syncCheckInterrupt()

bool ActionPrimitives::syncCheckInterrupt ( const bool disable = false )

virtual

Suddenly interrupt any blocking call that is pending on querying the action status.

Parameters

disable disable the blocking feature for future calls with sync switch on; useful to allow a graceful stop of the application.

See also: syncCheckReinstate

Returns: true/false on success/fail.

Definition at line 2043 of file actionPrimitives.cpp.

◆ syncCheckReinstate()

bool ActionPrimitives::syncCheckReinstate ( )

virtual

Reinstate the blocking feature for future calls with sync switch on.

Returns: true/false on success/fail.

Definition at line 2060 of file actionPrimitives.cpp.

◆ unlockActions()

bool ActionPrimitives::unlockActions ( )

virtual

Enable the possibility to yield new actions.

Returns: true/false on success/fail.

Definition at line 852 of file actionPrimitives.cpp.

◆ wait()

bool ActionPrimitives::wait ( const Action & action )

protectedvirtual

Definition at line 1403 of file actionPrimitives.cpp.

Friends And Related Symbol Documentation

◆ ArmWayPoints

friend class ArmWayPoints

friend

Definition at line 257 of file actionPrimitives.h.

Member Data Documentation

◆ actionClb

ActionPrimitivesCallback* iCub::action::ActionPrimitives::actionClb

protected

Definition at line 291 of file actionPrimitives.h.

◆ actionsQueue

iCub::action::ActionPrimitives::ActionsQueue iCub::action::ActionPrimitives::actionsQueue

protected

◆ actionWP

yarp::os::PeriodicThread* iCub::action::ActionPrimitives::actionWP

protected

Definition at line 292 of file actionPrimitives.h.

◆ armMoveDone

bool iCub::action::ActionPrimitives::armMoveDone

protected

Definition at line 216 of file actionPrimitives.h.

◆ armWaver

yarp::os::PeriodicThread* iCub::action::ActionPrimitives::armWaver

protected

Definition at line 209 of file actionPrimitives.h.

◆ cartCtrl

yarp::dev::ICartesianControl* iCub::action::ActionPrimitives::cartCtrl

protected

Definition at line 205 of file actionPrimitives.h.

◆ checkEnabled

bool iCub::action::ActionPrimitives::checkEnabled

protected

Definition at line 226 of file actionPrimitives.h.

◆ closed

bool iCub::action::ActionPrimitives::closed

protected

Definition at line 225 of file actionPrimitives.h.

◆ configured

bool iCub::action::ActionPrimitives::configured

protected

Definition at line 224 of file actionPrimitives.h.

◆ curGraspDetectionThres

yarp::sig::Vector iCub::action::ActionPrimitives::curGraspDetectionThres

protected

Definition at line 248 of file actionPrimitives.h.

◆ curHandFinalPoss

yarp::sig::Vector iCub::action::ActionPrimitives::curHandFinalPoss

protected

Definition at line 246 of file actionPrimitives.h.

◆ curHandTmo

double iCub::action::ActionPrimitives::curHandTmo

protected

Definition at line 249 of file actionPrimitives.h.

◆ curHandTols

yarp::sig::Vector iCub::action::ActionPrimitives::curHandTols

protected

Definition at line 247 of file actionPrimitives.h.

◆ cv_motionDoneEvent

std::condition_variable iCub::action::ActionPrimitives::cv_motionDoneEvent

protected

Definition at line 214 of file actionPrimitives.h.

◆ cv_motionStartEvent

std::condition_variable iCub::action::ActionPrimitives::cv_motionStartEvent

protected

Definition at line 212 of file actionPrimitives.h.

◆ default_exec_time

double iCub::action::ActionPrimitives::default_exec_time

protected

Definition at line 233 of file actionPrimitives.h.

◆ disableTorsoSw

yarp::sig::Vector iCub::action::ActionPrimitives::disableTorsoSw

protected

Definition at line 244 of file actionPrimitives.h.

◆ enableTorsoSw

yarp::sig::Vector iCub::action::ActionPrimitives::enableTorsoSw

protected

Definition at line 243 of file actionPrimitives.h.

◆ encCtrl

yarp::dev::IEncoders* iCub::action::ActionPrimitives::encCtrl

protected

Definition at line 203 of file actionPrimitives.h.

◆ fingerInPosition

std::deque<bool> iCub::action::ActionPrimitives::fingerInPosition

protected

Definition at line 222 of file actionPrimitives.h.

◆ fingers2JntsMap

std::multimap<int,int> iCub::action::ActionPrimitives::fingers2JntsMap

protected

Definition at line 255 of file actionPrimitives.h.

◆ fingersInPosition

bool iCub::action::ActionPrimitives::fingersInPosition

protected

Definition at line 221 of file actionPrimitives.h.

◆ fingersJnts

std::vector<int> iCub::action::ActionPrimitives::fingersJnts

protected

Definition at line 252 of file actionPrimitives.h.

◆ fingersJntsSet

std::set<int> iCub::action::ActionPrimitives::fingersJntsSet

protected

Definition at line 253 of file actionPrimitives.h.

◆ fingersMovingJntsSet

std::set<int> iCub::action::ActionPrimitives::fingersMovingJntsSet

protected

Definition at line 254 of file actionPrimitives.h.

◆ graspModel

perception::Model* iCub::action::ActionPrimitives::graspModel

protected

Definition at line 207 of file actionPrimitives.h.

◆ handMoveDone

bool iCub::action::ActionPrimitives::handMoveDone

protected

Definition at line 217 of file actionPrimitives.h.

◆ handSeqMap

std::map<std::string,std::deque<HandWayPoint> > iCub::action::ActionPrimitives::handSeqMap

protected

Definition at line 298 of file actionPrimitives.h.

◆ handSeqTerminator

bool iCub::action::ActionPrimitives::handSeqTerminator

protected

Definition at line 220 of file actionPrimitives.h.

◆ jHandMax

int iCub::action::ActionPrimitives::jHandMax

protected

Definition at line 241 of file actionPrimitives.h.

◆ jHandMin

int iCub::action::ActionPrimitives::jHandMin

protected

Definition at line 240 of file actionPrimitives.h.

◆ latchArmMoveDone

bool iCub::action::ActionPrimitives::latchArmMoveDone

protected

Definition at line 218 of file actionPrimitives.h.

◆ latchHandMoveDone

bool iCub::action::ActionPrimitives::latchHandMoveDone

protected

Definition at line 219 of file actionPrimitives.h.

◆ latchTimerHand

double iCub::action::ActionPrimitives::latchTimerHand

protected

Definition at line 250 of file actionPrimitives.h.

◆ latchTimerReach

double iCub::action::ActionPrimitives::latchTimerReach

protected

Definition at line 237 of file actionPrimitives.h.

◆ latchTimerReachLog

double iCub::action::ActionPrimitives::latchTimerReachLog

protected

Definition at line 238 of file actionPrimitives.h.

◆ latchTimerWait

double iCub::action::ActionPrimitives::latchTimerWait

protected

Definition at line 236 of file actionPrimitives.h.

◆ local

std::string iCub::action::ActionPrimitives::local

protected

Definition at line 197 of file actionPrimitives.h.

◆ locked

bool iCub::action::ActionPrimitives::locked

protected

Definition at line 230 of file actionPrimitives.h.

◆ modCtrl

yarp::dev::IControlMode* iCub::action::ActionPrimitives::modCtrl

protected

Definition at line 202 of file actionPrimitives.h.

◆ mtx

std::mutex iCub::action::ActionPrimitives::mtx

protected

Definition at line 210 of file actionPrimitives.h.

◆ mtx_motionDoneEvent

std::mutex iCub::action::ActionPrimitives::mtx_motionDoneEvent

protected

Definition at line 213 of file actionPrimitives.h.

◆ mtx_motionStartEvent

std::mutex iCub::action::ActionPrimitives::mtx_motionStartEvent

protected

Definition at line 211 of file actionPrimitives.h.

◆ part

std::string iCub::action::ActionPrimitives::part

protected

Definition at line 198 of file actionPrimitives.h.

◆ polyCart

yarp::dev::PolyDriver iCub::action::ActionPrimitives::polyCart

protected

Definition at line 201 of file actionPrimitives.h.

◆ polyHand

yarp::dev::PolyDriver iCub::action::ActionPrimitives::polyHand

protected

Definition at line 200 of file actionPrimitives.h.

◆ posCtrl

yarp::dev::IPositionControl* iCub::action::ActionPrimitives::posCtrl

protected

Definition at line 204 of file actionPrimitives.h.

◆ reachTmo

double iCub::action::ActionPrimitives::reachTmo

protected

Definition at line 235 of file actionPrimitives.h.

◆ reachTmoEnabled

bool iCub::action::ActionPrimitives::reachTmoEnabled

protected

Definition at line 229 of file actionPrimitives.h.

◆ robot

std::string iCub::action::ActionPrimitives::robot

protected

Definition at line 196 of file actionPrimitives.h.

◆ torsoActive

bool iCub::action::ActionPrimitives::torsoActive

protected

Definition at line 228 of file actionPrimitives.h.

◆ tracking_mode

bool iCub::action::ActionPrimitives::tracking_mode

protected

Definition at line 227 of file actionPrimitives.h.

◆ verbose

bool iCub::action::ActionPrimitives::verbose

protected

Definition at line 231 of file actionPrimitives.h.

◆ waitTmo

double iCub::action::ActionPrimitives::waitTmo

protected

Definition at line 234 of file actionPrimitives.h.

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

icub-main/src/libraries/actionPrimitives/include/iCub/action/actionPrimitives.h
icub-main/src/libraries/actionPrimitives/src/actionPrimitives.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ActionPrimitives() [1/2]

◆ ActionPrimitives() [2/2]

◆ ~ActionPrimitives()

Member Function Documentation

◆ _pushAction() [1/2]

◆ _pushAction() [2/2]

◆ addHandSequence()

◆ addHandSeqWP()

◆ areFingersInPosition() [1/2]

◆ areFingersInPosition() [2/2]

◆ areFingersMoving()

◆ checkActionOnGoing()

◆ checkActionsDone()

◆ clearActionsQueue()

◆ close()

◆ cmdArm()

◆ cmdArmWP()

◆ cmdHand()

◆ configGraspModel()

◆ configHandSeq()

◆ disableArmWaving()

◆ disableReachingTimeout()

◆ disableTorsoDof()

◆ enableArmWaving()

◆ enableReachingTimeout()

◆ enableTorsoDof()

◆ execPendingHandSequences()

◆ execQueuedAction()

◆ getActionsLockStatus()

◆ getCartesianIF()

◆ getDefaultExecTime()

◆ getGraspModel()

◆ getHandSeqList()

◆ getHandSequence()

◆ getPose()

◆ getTorsoJoints()

◆ getTrackingMode()

◆ handCheckMotionDone()

◆ handleTorsoDOF()

◆ init()

◆ isHandSeqEnded()

◆ isValid()

◆ isValidHandSeq()

◆ lockActions()

◆ open()

◆ postReachCallback()

◆ printMessage()

◆ pushAction() [1/7]

◆ pushAction() [2/7]

◆ pushAction() [3/7]

◆ pushAction() [4/7]

◆ pushAction() [5/7]

◆ pushAction() [6/7]

◆ pushAction() [7/7]

◆ pushWaitState()

◆ reachPose()

◆ reachPosition()

◆ removeHandSeq()

◆ run()

◆ setDefaultExecTime()

◆ setTorsoJoints()

◆ setTrackingMode()

◆ stopControl()

◆ syncCheckInterrupt()

◆ syncCheckReinstate()

◆ unlockActions()

◆ wait()

Friends And Related Symbol Documentation

◆ ArmWayPoints

Member Data Documentation

◆ actionClb

◆ actionsQueue

◆ actionWP