A derived class defining a first abstraction layer on top of actionPrimitives father class. More...

#include <actionPrimitives.h>

Inheritance diagram for iCub::action::ActionPrimitivesLayer1:

Public Member Functions
	ActionPrimitivesLayer1 ()
	Default Constructor.

	ActionPrimitivesLayer1 (yarp::os::Property &opt)
	Constructor.

virtual bool	grasp (const yarp::sig::Vector &x, const yarp::sig::Vector &o, const yarp::sig::Vector &d)
	Grasp the given target (combined action).

virtual bool	touch (const yarp::sig::Vector &x, const yarp::sig::Vector &o, const yarp::sig::Vector &d)
	Touch the given target (combined action).

virtual bool	tap (const yarp::sig::Vector &x1, const yarp::sig::Vector &o1, const yarp::sig::Vector &x2, const yarp::sig::Vector &o2, const double execTime=ACTIONPRIM_DISABLE_EXECTIME)
	Tap the given target (combined action).

Public Member Functions inherited from iCub::action::ActionPrimitives
	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.

Additional Inherited Members
Protected Member Functions inherited from iCub::action::ActionPrimitives
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 inherited from iCub::action::ActionPrimitives
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

Detailed Description

A derived class defining a first abstraction layer on top of actionPrimitives father class.

It internally predeclares (without actually defining) a set of hand sequence motions key ("open_hand", "close_hand" and "karate_hand" :) that are used for grasp(), touch() and tap() actions.

Note: Given as an example of how primitive actions can be combined in higher level actions, thus how further layers can be inherited from the base class.

Definition at line 930 of file actionPrimitives.h.

Constructor & Destructor Documentation

◆ ActionPrimitivesLayer1() [1/2]

iCub::action::ActionPrimitivesLayer1::ActionPrimitivesLayer1 ( )

inline

Default Constructor.

Definition at line 936 of file actionPrimitives.h.

◆ ActionPrimitivesLayer1() [2/2]

iCub::action::ActionPrimitivesLayer1::ActionPrimitivesLayer1 ( yarp::os::Property & opt )

inline

Constructor.

Parameters

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

Definition at line 943 of file actionPrimitives.h.

Member Function Documentation

◆ grasp()

bool ActionPrimitivesLayer1::grasp	(	const yarp::sig::Vector &	x,
		const yarp::sig::Vector &	o,
		const yarp::sig::Vector &	d
	)

virtual

Grasp the given target (combined action).

Parameters

x	the 3-d target position [m].
o	the 4-d hand orientation used while reaching/grasping (given in axis-angle representation: ax ay az angle in rad).
d	the displacement [m] wrt the target position that identifies a location to be reached prior to grasping.

Returns: true/false on success/fail.

Note: internal implementation (pseudo-code):
...

pushAction(x+d,o,"open_hand");

pushAction(x,o);

pushAction("close_hand");

...

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.

x
x
Definition compute_ekf_sym.m:21

It reachs for (x+d,o) opening the hand, then reachs for (x,o) and finally closes the hand.

Reimplemented in iCub::action::ActionPrimitivesLayer2.

Definition at line 2073 of file actionPrimitives.cpp.

◆ tap()

bool ActionPrimitivesLayer1::tap	(	const yarp::sig::Vector &	x1,
		const yarp::sig::Vector &	o1,
		const yarp::sig::Vector &	x2,
		const yarp::sig::Vector &	o2,
		const double	execTime = `ACTIONPRIM_DISABLE_EXECTIME`
	)

virtual

Tap the given target (combined action).

Parameters

x1	the fisrt 3-d target position [m].
o1	the first 4-d hand orientation (given in axis-angle representation: ax ay az angle in rad).
x2	the second 3-d target position [m].
o2	the second 4-d hand orientation (given in axis-angle representation: ax ay az angle in rad).
execTime	the arm action execution time only while tapping [s] (to be specified iff different from default value).

Returns: true/false on success/fail.

Note: internal implementation (pseudo-code):
...

pushAction(x1,o1,"karate_hand");

pushAction(x2,o2,execTime);

pushAction(x1,o1);

...

x2
x2
Definition compute_ekf_fast.m:9

x1
x1
Definition compute_ekf_sym.m:28

It reachs for (x1,o1), then reachs for (x2,o2) and then again for (x1,o1).

Definition at line 2108 of file actionPrimitives.cpp.

◆ touch()

bool ActionPrimitivesLayer1::touch	(	const yarp::sig::Vector &	x,
		const yarp::sig::Vector &	o,
		const yarp::sig::Vector &	d
	)

virtual

Touch the given target (combined action).

Parameters

x	the 3-d target position [m].
o	the 4-d hand orientation used while reaching/touching (given in axis-angle representation: ax ay az angle in rad).
d	the displacement [m] wrt the target position that identifies a location to be reached prior to touching.

Returns: true/false on success/fail.

Note: internal implementation (pseudo-code):
...

pushAction(x+d,o,"karate_hand");

pushAction(x,o);

...

It reachs for (x+d,o), then reachs for (x,o). Similar to grasp but without final hand action.

Reimplemented in iCub::action::ActionPrimitivesLayer2.

Definition at line 2091 of file actionPrimitives.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ActionPrimitivesLayer1() [1/2]

◆ ActionPrimitivesLayer1() [2/2]

Member Function Documentation

◆ grasp()

◆ tap()

◆ touch()