Class Clean::Description

Nested Relationships

This class is a nested type of Class Clean.

Inheritance Relationships

Base Type

Class Documentation

class Description : public rmf_task::Task::Description

Public Functions

virtual Task::ConstModelPtr make_model(rmf_traffic::Time earliest_start_time, const Parameters &parameters) const final

Generate a Model for the task based on the unique traits of this description

Parameters:

  • earliest_start_time – [in] The earliest time this task should begin execution. This is usually the requested start time for the task.

  • parameters – [in] The parameters that describe this AGV

virtual Info generate_info(const State &initial_state, const Parameters &parameters) const final

Generate a plain text info description for the task, given the predicted initial state and the task planning parameters.

Parameters:

  • initial_state – [in] The predicted initial state for the task

  • parameters – [in] The task planning parameters

std::size_t start_waypoint() const

Get the start waypoint in this request.

std::size_t end_waypoint() const

Get the end waypoint in this request.

Public Static Functions

static std::shared_ptr<Description> make(std::size_t start_waypoint, std::size_t end_waypoint, const rmf_traffic::Trajectory &cleaning_path)

Generate the description for this request.