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PrimitiveActionNode.h
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PrimitiveActionNode.h
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//
// Created by hejia on 8/24/19.
//
#ifndef WECOOK_PRIMITIVEACTIONNODE_H
#define WECOOK_PRIMITIVEACTIONNODE_H
#include "Agent.h"
#include "ObjectMgr.h"
#include "ContainingMap.h"
#include "TSRMotionNode.h"
#include "ConnMotionNode.h"
#include "GrabMotionNode.h"
#include "RelativeIKMotionNode.h"
#include "ConfMotionNode.h"
#include "LinearDeltaMotionNode.h"
namespace wecook {
class PrimitiveActionNode {
public:
PrimitiveActionNode(const std::string &pid,
const std::string &type,
const std::string &grabbingObj = "",
const std::string &placingObj = "",
bool ifHeand = false,
bool ifTail = false)
: m_ifHead(ifHeand),
m_pid(pid),
m_grabbingObj(grabbingObj),
m_placingObj(placingObj),
m_type(type),
m_ifTail(ifTail) {
}
inline void addChild(std::shared_ptr<PrimitiveActionNode> child) {
m_children.emplace_back(child);
}
inline void addFather(std::shared_ptr<PrimitiveActionNode> father) {
m_fathers.emplace_back(father);
}
inline bool ifHead() {
return m_ifHead;
}
inline std::string getPid() {
return m_pid;
}
inline std::string getGrabbingObj() {
return m_grabbingObj;
}
inline std::string getPlacingObj() {
return m_placingObj;
}
inline bool ifTail() {
return m_ifTail;
}
inline std::string getType() {
return m_type;
}
inline void setIfTail(bool ifTail) {
m_ifTail = ifTail;
}
inline void setIfHead(bool ifHead) {
m_ifHead = ifHead;
}
inline void setIfExecuted(bool ifExecuted) {
m_ifExecuted = ifExecuted;
}
inline bool ifExecuted() {
return m_ifExecuted;
}
inline std::vector<std::shared_ptr<PrimitiveActionNode>> getFathers() {
return m_fathers;
}
inline std::vector<std::shared_ptr<PrimitiveActionNode>> getChildren() {
return m_children;
}
virtual void execute(std::map<std::string, std::shared_ptr<Agent>> &agents,
std::shared_ptr<ObjectMgr> &objMgr,
std::shared_ptr<ContainingMap> &containingMap) = 0;
void removeChild(std::shared_ptr<PrimitiveActionNode> &child);
void removeFather(std::shared_ptr<PrimitiveActionNode> &father);
double m_timeStep = 0.02;
void setTimeStep(double timeStep) {
m_timeStep = timeStep;
}
protected:
bool m_ifTail;
bool m_ifHead;
bool m_ifExecuted = false;
std::string m_pid;
std::vector<std::shared_ptr<PrimitiveActionNode>> m_children;
std::vector<std::shared_ptr<PrimitiveActionNode>> m_fathers;
std::string m_type;
std::string m_grabbingObj;
std::string m_placingObj;
};
}
#endif //WECOOK_PRIMITIVEACTIONNODE_H