Class Bundle::Description

Nested Relationships

This class is a nested type of Class Bundle.

Inheritance Relationships

Base Type

Class Documentation

class Description : public rmf_task_sequence::Activity::Description

Public Types

using Dependencies = std::vector<Event::ConstDescriptionPtr>

Public Functions

Description(Dependencies dependencies, Type type, std::optional<std::string> category = std::nullopt, std::optional<std::string> detail = std::nullopt)

Construct a Sequence Description

Parameters:

  • dependencies – [in] These are the events that the bundle will depend on.

  • type – [in] The type of the bundle, which determines its behavior.

  • category – [in] Optionally give a category to this bundle. If left unspecified, the category will be based on its type.

  • detail – [in] Optionally give some detail to this bundle. If left unspecified, the detail will simply aggregate the details of the dependencies.

const Dependencies &dependencies() const

Get the elements of the sequence.

Description &dependencies(Dependencies new_elements)

Change the elements of the sequence.

Type type() const

Get the type of bundle this is.

Description &type(Type new_type)

Change the type of bundle that this is.

const std::optional<std::string> &category() const

Get the category settings.

Description &category(std::optional<std::string> new_category)

Change the category settings.

const std::optional<std::string> &detail() const

Get the detail settings.

Description &detail(std::optional<std::string> new_detail)

Change the detail settings.

virtual Activity::ConstModelPtr make_model(rmf_task::State invariant_initial_state, const Parameters &parameters) const final

Generate a Model for this Activity based on its description, parameters, and the invariants of its initial state.

Parameters:

  • invariant_initial_state – [in] A partial state that represents the state components which will definitely be true when this Activity begins.

  • parameters – [in] The parameters for the robot.

Returns:

a model based on the given start state and parameters.

virtual Header generate_header(const rmf_task::State &initial_state, const Parameters &parameters) const final

Generate human-friendly header information for this Activity.

Parameters:

  • initial_state – [in] The expected initial state when the activity begins

  • parameters – [in] Parameters of the robot during the Activity