Program Listing for File PickUp.hpp

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/*
 * 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__EVENTS__PICKUP_HPP
#define RMF_TASK_SEQUENCE__EVENTS__PICKUP_HPP

#include <rmf_traffic/agv/Planner.hpp>

#include <rmf_task/Payload.hpp>
#include <rmf_task_sequence/Event.hpp>

namespace rmf_task_sequence {
namespace events {

//==============================================================================
class PickUp
{
public:

  using Location = rmf_traffic::agv::Plan::Goal;

  class Description;
  using DescriptionPtr = std::shared_ptr<Description>;

  class Model;
};

//==============================================================================
class PickUp::Description : public Event::Description
{
public:

  static DescriptionPtr make(
    Location pickup_location,
    std::string from_dispenser,
    Payload payload,
    rmf_traffic::Duration loading_duration_estimate);

  const Location& pickup_location() const;

  Description& pickup_location(Location new_location);

  const std::string& from_dispenser() const;

  Description& from_dispenser(std::string new_dispenser);

  const Payload& payload() const;

  Description& payload(Payload new_payload);

  rmf_traffic::Duration loading_duration_estimate() const;

  Description& loading_duration_estimate(rmf_traffic::Duration new_duration);

  // Documentation inherited
  Activity::ConstModelPtr make_model(
    State invariant_initial_state,
    const Parameters& parameters) const final;

  // Documentation inherited
  Header generate_header(
    const State& initial_state,
    const Parameters& parameters) const final;

  class Implementation;
private:
  Description();
  rmf_utils::unique_impl_ptr<Implementation> _pimpl;
};

} // namespace events
} // namespace rmf_task_sequence

#endif // RMF_TASK_SEQUENCE__EVENTS__PICKUP_HPP