.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_Activity.hpp:

Program Listing for File Activity.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_Activity.hpp>` (``/tmp/ws/src/rmf_task/rmf_task_sequence/include/rmf_task_sequence/Activity.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2021 Open Source Robotics Foundation
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
   */
   
   #ifndef RMF_TASK_SEQUENCE__ACTIVITY_HPP
   #define RMF_TASK_SEQUENCE__ACTIVITY_HPP
   
   #include <rmf_task/detail/Resume.hpp>
   #include <rmf_task/Header.hpp>
   
   #include <rmf_task_sequence/detail/Backup.hpp>
   #include <rmf_task_sequence/typedefs.hpp>
   
   namespace rmf_task_sequence {
   
   //==============================================================================
   class Activity
   {
   public:
   
     class Active;
   
     class Description;
     using ConstDescriptionPtr = std::shared_ptr<const Description>;
   
     class Model;
     using ConstModelPtr = std::shared_ptr<const Model>;
   
     class SequenceModel;
   };
   
   //==============================================================================
   class Activity::Active
   {
   public:
   
     using Backup = detail::Backup;
   
     virtual Backup backup() const = 0;
   
     using Resume = rmf_task::detail::Resume;
   
     virtual Resume interrupt(std::function<void()> task_is_interrupted) = 0;
   
     virtual void cancel() = 0;
   
     virtual void kill() = 0;
   
     // Virtual destructor
     virtual ~Active() = default;
   };
   
   //==============================================================================
   class Activity::Description
   {
   public:
   
     virtual ConstModelPtr make_model(
       State invariant_initial_state,
       const Parameters& parameters) const = 0;
   
     virtual Header generate_header(
       const State& initial_state,
       const Parameters& parameters) const = 0;
   
     // Virtual destructor
     virtual ~Description() = default;
   };
   
   //==============================================================================
   class Activity::Model
   {
   public:
   
     virtual std::optional<Estimate> estimate_finish(
       State initial_state,
       rmf_traffic::Time earliest_arrival_time,
       const Constraints& constraints,
       const TravelEstimator& travel_estimator) const = 0;
   
     virtual rmf_traffic::Duration invariant_duration() const = 0;
   
     virtual State invariant_finish_state() const = 0;
   
     // Virtual destructor
     virtual ~Model() = default;
   };
   
   //==============================================================================
   class Activity::SequenceModel : public Activity::Model
   {
   public:
   
     static ConstModelPtr make(
       const std::vector<ConstDescriptionPtr>& descriptions,
       State invariant_initial_state,
       const Parameters& parameters);
   
     // Documentation inherited
     std::optional<rmf_task::Estimate> estimate_finish(
       State initial_state,
       rmf_traffic::Time earliest_arrival_time,
       const Constraints& constraints,
       const TravelEstimator& travel_estimator) const final;
   
     // Documentation inherited
     rmf_traffic::Duration invariant_duration() const final;
   
     // Documentation inherited
     State invariant_finish_state() const final;
   
     class Implementation;
   private:
     SequenceModel();
     rmf_utils::unique_impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace rmf_task_sequence
   
   #endif // RMF_TASK_SEQUENCE__ACTIVITY_HPP