Class DropOff

Nested Relationships

Nested Types

Class Documentation

class DropOff

A DropOff phase encompasses going to a location and transferring a payload off of the robot.

Public Types

using Location = rmf_traffic::agv::Plan::Goal
using DescriptionPtr = std::shared_ptr<Description>
class Description : public rmf_task_sequence::Activity::Description

Public Functions

const Location &drop_off_location() const

Get the drop-off location.

Description &drop_off_location(Location new_location)

Set the drop-off location.

const std::string &into_ingestor() const

Get the ingestor to drop off into.

Description &into_ingestor(std::string new_ingestor)

Set the ingestor to drop off into.

const Payload &payload() const

Get the Payload to drop off.

Description &payload(Payload new_payload)

Set the Payload to drop off.

rmf_traffic::Duration unloading_duration_estimate() const

Get the unloading duration estimate.

Description &unloading_duration_estimate(rmf_traffic::Duration new_duration)

Set the unloading duration estimate.

virtual Activity::ConstModelPtr make_model(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 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

Public Static Functions

static DescriptionPtr make(Location drop_off_location, std::string into_ingestor, Payload payload, rmf_traffic::Duration unloading_duration_estimate)

Make a DropOff phase description

Parameters:

  • drop_off_location – [in] The location that the robot needs to get to for the drop-off

  • into_ingestor – [in] The ingestor that will take care of unloading the items. We will communicate with this ingestor to verify the success of unloading the items.

  • payload – [in] A description of what should be unloaded from the robot during drop-off

  • unloading_duration_estimate – [in] An estimate for how long it will likely take to unload the items.