Class EasyFullControl

Defined in File EasyFullControl.hpp

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

public std::enable_shared_from_this< EasyFullControl >

Class Documentation

class EasyFullControl : public std::enable_shared_from_this<EasyFullControl>

An easy to initialize full_control fleet adapter. By default the adapter will be configured to accept all tasks. To disable specific tasks, call the respective consider_*_requests() method on the FleetUpdateHandle that can be accessed within this adapter.

Public Types

using Graph = rmf_traffic::agv::Graph

using VehicleTraits = rmf_traffic::agv::VehicleTraits

using ActionExecutor = RobotUpdateHandle::ActionExecutor 

using ActivityIdentifier = RobotUpdateHandle::ActivityIdentifier 

using ActivityIdentifierPtr = RobotUpdateHandle::ActivityIdentifierPtr 

using ConstActivityIdentifierPtr = RobotUpdateHandle::ConstActivityIdentifierPtr 

using Stubbornness = RobotUpdateHandle::Unstable::Stubbornness 

using ConsiderRequest = FleetUpdateHandle::ConsiderRequest 

using NavigationRequest = std::function<void(Destination destination, CommandExecution execution)>

Signature for a function that handles navigation requests. The request will specify a destination for the robot to go to.

Param destination:: [in] Where the robot should move to. Includings (x, y) coordinates, a target yaw, a map name, and may include a graph index when one is available.
Param execution:: [in] The command execution progress updater. Use this to keep the fleet adapter updated on the progress of the command.

using StopRequest = std::function<void(ConstActivityIdentifierPtr)>: Signature for a function to handle stop requests.

using LocalizationRequest = std::function<void(Destination location_estimate, CommandExecution execution)>

Signature for a function that handles localization requests. The request will specify an approximate location for the robot.

Param location_estimate:: [in] An estimate for where the robot is currently located.
Param execution:: [in] The command execution progress updater. Use this to keep the fleet adapter updated on the progress of localizing.

Public Functions

std::shared_ptr<EasyRobotUpdateHandle> add_robot(std::string name, RobotState initial_state, RobotConfiguration configuration, RobotCallbacks callbacks)

Add a robot to the fleet once it is available.

Parameters:

name – [in] Name of the robot. This must be unique per fleet.
initial_state – [in] The initial state of the robot when it is added to the fleet.
configuration – [in] The configuration of the robot.
callbacks – [in] The callbacks that will be used to issue commands for the robot.

Returns:

an easy robot update handle on success. A nullptr if an error occurred.

std::shared_ptr<FleetUpdateHandle> more(): Get the FleetUpdateHandle that this adapter will be using. This may be used to perform more specialized customizations using the base FleetUpdateHandle API.

std::shared_ptr<const FleetUpdateHandle> more() const: Immutable reference to the base FleetUpdateHandle API.

class CommandExecution

Used by system integrators to give feedback on the progress of executing a navigation or docking command.

Public Functions

void finished(): Trigger this when the command is successfully finished. No other function in this CommandExecution instance will be usable after this.

bool okay() const: Returns false if the command has been stopped.

Stubbornness override_schedule(std::string map, std::vector<Eigen::Vector3d> path, rmf_traffic::Duration hold = rmf_traffic::Duration(0))

Use this to override the traffic schedule for the agent while it performs this command.

If the given trajectory results in a traffic conflict then a negotiation will be triggered. Hold onto the Stubbornness returned by this function to ask other agents to plan around your trajectory, otherwise the negotiation may result in a replan for this agent and a new command will be issued.

Note

Using this will function always trigger a replan once the agent finishes the command.

Warning

Too many overridden/stubborn agents can cause a deadlock. It’s recommended to use this API sparingly and only over short distances or small deviations.

Parameters:

map – [in] Name of the map where the trajectory will take place
path – [in] The path of the agent
hold – [in] How long the agent will wait at the end of the path

Returns:

a Stubbornness handle that tells the fleet adapter to not let the overridden path be negotiated. The returned handle will stop having an effect after this command execution is finished.

ConstActivityIdentifierPtr identifier() const: Activity handle for this command. Pass this into EasyRobotUpdateHandle::update_position while executing this command.

class Destination

Public Functions

const std::string &map() const: The name of the map where the destination is located.

Eigen::Vector3d position() const: The (x, y, yaw) position of the destination.

Eigen::Vector2d xy() const: The (x, y) position of the destination.

double yaw() const: The intended orientation of the robot at the destination, represented in radians.

std::optional<std::size_t> graph_index() const: If the destination has an index in the navigation graph, you can get it from this field.

std::string name() const: The name of this destination, if it has one. Nameless destinations will give an empty string.

std::optional<double> speed_limit() const: If there is a speed limit that should be respected while approaching the destination, this will indicate it.

std::optional<std::string> dock() const: If the destination should be reached by performing a dock maneuver, this will contain the name of the dock.

rmf_traffic::agv::Graph::LiftPropertiesPtr inside_lift() const: Get whether the destination is inside of a lift, and if so get the properties of the lift.

class EasyRobotUpdateHandle

Handle used to update information about one robot.

Public Functions

void update(RobotState state, ConstActivityIdentifierPtr current_activity)

Recommended function for updating information about a robot in an EasyFullControl fleet.

Parameters:

state – [in] The current state of the robot
current_action – [in] The action that the robot is currently executing

double max_merge_waypoint_distance() const: Get the maximum allowed merge waypoint distance for this robot.

void set_max_merge_waypoint_distance(double distance)

Modify the maximum allowed merge distance between the robot and a waypoint.

Parameters:: max_merge_waypoint_distance – [in] The maximum merge waypoint distance for this robot.

double max_merge_lane_distance() const: Get the maximum allowed merge lane distance for this robot.

void set_max_merge_lane_distance(double distance)

Modify the maximum allowed merge distance between the robot and a lane.

Parameters:: max_merge_lane_distance – [in] The maximum merge lane distance for this robot.

double min_lane_length() const: Get the minimum lane length for this robot.

void set_min_lane_length(double length)

Modify the minimum lane length for this robot.

Parameters:: min_lane_length – [in] The minimum length of a lane.

std::shared_ptr<RobotUpdateHandle> more(): Get more options for updating the robot’s state.

std::shared_ptr<const RobotUpdateHandle> more() const: Immutable reference to the base robot update API.

class FleetConfiguration

The Configuration class contains parameters necessary to initialize an EasyFullControl fleet instance and add fleets to the adapter.

Public Functions

FleetConfiguration(const std::string &fleet_name, std::optional<std::unordered_map<std::string, Transformation>> transformations_to_robot_coordinates, std::unordered_map<std::string, RobotConfiguration> known_robot_configurations, std::shared_ptr<const rmf_traffic::agv::VehicleTraits> traits, std::shared_ptr<const rmf_traffic::agv::Graph> graph, rmf_battery::agv::ConstBatterySystemPtr battery_system, rmf_battery::ConstMotionPowerSinkPtr motion_sink, rmf_battery::ConstDevicePowerSinkPtr ambient_sink, rmf_battery::ConstDevicePowerSinkPtr tool_sink, double recharge_threshold, double recharge_soc, bool account_for_battery_drain, std::unordered_map<std::string, ConsiderRequest> task_consideration, std::unordered_map<std::string, ConsiderRequest> action_consideration, rmf_task::ConstRequestFactoryPtr finishing_request = nullptr, bool skip_rotation_commands = true, std::optional<std::string> server_uri = std::nullopt, rmf_traffic::Duration max_delay = rmf_traffic::time::from_seconds(10.0), rmf_traffic::Duration update_interval = rmf_traffic::time::from_seconds(0.5), bool default_responsive_wait = false, double default_max_merge_waypoint_distance = 1e-3, double default_max_merge_lane_distance = 0.3, double min_lane_length = 1e-8)

Constructor

Parameters:

fleet_name – [in] The name of the fleet that is being added.
transformations_to_robot_coordinates – [in] A dictionary of transformations from RMF canonical coordinates to the the coordinate system used by the robot. Each map should be assigned its own transformation. If this is not nullptr, then a warning will be logged whenever the dictionary is missing a transform for a map, and the canonical RMF coordinates will be used.
traits – [in] Specify the approximate traits of the vehicles in this fleet.
navigation_graph – [in] Specify the navigation graph used by the vehicles in this fleet.
battery_system – [in] Specify the battery system used by the vehicles in this fleet.
motion_sink – [in] Specify the motion sink that describes the vehicles in this fleet.
ambient_sink – [in] Specify the device sink for ambient sensors used by the vehicles in this fleet.
tool_sink – [in] Specify the device sink for special tools used by the vehicles in this fleet.
recharge_threshold – [in] The threshold for state of charge below which robots in this fleet will cease to operate and require recharging. A value between 0.0 and 1.0 should be specified.
recharge_soc – [in] The state of charge to which robots in this fleet should be charged up to by automatic recharging tasks. A value between 0.0 and 1.0 should be specified.
account_for_battery_drain – [in] Specify whether battery drain is to be considered while allocating tasks. If false, battery drain will not be considered when planning for tasks. As a consequence, charging tasks will not be automatically assigned to vehicles in this fleet when battery levels fall below the recharge_threshold.
task_categories – [in] Provide callbacks for considering tasks belonging to each category.
action_categories – [in] List of actions that this fleet can perform. Each item represents a category in the PerformAction description.
finishing_request – [in] A factory for a request that should be performed by each robot in this fleet at the end of its assignments.
skip_rotation_commands – [in] If true, navigation requests which would only have the robot rotate in place will not be sent. Instead, navigation requests will always have the final orientation for the destination.
server_uri – [in] The URI for the websocket server that receives updates on tasks and states. If nullopt, data will not be published.
max_delay – [in] Specify the default value for how high the delay of the current itinerary can become before it gets interrupted and replanned.
update_interval – [in] The duration between positional state updates that are sent to the fleet adapter.
default_responsive_wait – [in] Should the robots in this fleet have responsive wait enabled (true) or disabled (false) by default?
default_max_merge_waypoint_distance – [in] The maximum merge distance between a robot position and a waypoint.
default_max_merge_lane_distance – [in] The maximum merge distance between a robot position and a lane.
default_min_lane_length – [in] The minimum length that a lane should have.

const std::string &fleet_name() const: Get the fleet name.

void set_fleet_name(std::string value): Set the fleet name.

const std::optional<std::unordered_map<std::string, Transformation>> &transformations_to_robot_coordinates() const: Get the transformations into robot coordinates for this fleet.

void add_robot_coordinate_transformation(std::string map, Transformation transformation): Set the transformation into robot coordinates for a map. This will replace any transformation previously set for the map. If the transformation dictionary was previously nullopt, this will initialize it with an empty value before inserting this transformation.

const std::unordered_map<std::string, RobotConfiguration> &known_robot_configurations() const: Get a dictionary of known robot configurations. The key is the name of the robot belonging to this fleet. These configurations are usually parsed from a fleet configuration file.

std::vector<std::string> known_robots() const: Get the names of all robots with known robot configurations.

void add_known_robot_configuration(std::string robot_name, RobotConfiguration configuration)

Provide a known configuration for a named robot.

Parameters:

robot_name – [in] The unique name of the robot.
configuration – [in] The configuration for the robot.

std::optional<RobotConfiguration> get_known_robot_configuration(const std::string &robot_name) const: Get a known configuration for a robot based on its name.

const std::shared_ptr<const VehicleTraits> &vehicle_traits() const: Get the fleet vehicle traits.

void set_vehicle_traits(std::shared_ptr<const VehicleTraits> value): Set the vehicle traits.

const std::shared_ptr<const Graph> &graph() const: Get the fleet navigation graph.

void set_graph(std::shared_ptr<const Graph> value): Set the fleet navigation graph.

rmf_battery::agv::ConstBatterySystemPtr battery_system() const: Get the battery system.

void set_battery_system(rmf_battery::agv::ConstBatterySystemPtr value): Set the battery system.

rmf_battery::ConstMotionPowerSinkPtr motion_sink() const: Get the motion sink.

void set_motion_sink(rmf_battery::ConstMotionPowerSinkPtr value): Set the motion sink.

rmf_battery::ConstDevicePowerSinkPtr ambient_sink() const: Get the ambient sink.

void set_ambient_sink(rmf_battery::ConstDevicePowerSinkPtr value): Set the ambient sink.

rmf_battery::ConstDevicePowerSinkPtr tool_sink() const: Get the tool sink.

void set_tool_sink(rmf_battery::ConstDevicePowerSinkPtr value): Set the tool sink.

double recharge_threshold() const: Get the recharge threshold.

void set_recharge_threshold(double value): Set the recharge threshold.

double recharge_soc() const: Get the recharge state of charge. If the robot’s state of charge dips below this value then its next task will be to recharge.

void set_recharge_soc(double value): Set the recharge state of charge.

bool account_for_battery_drain() const: Get whether or not to account for battery drain during task planning.

void set_account_for_battery_drain(bool value): Set whether or not to account for battery drain during task planning.

const std::unordered_map<std::string, ConsiderRequest> &task_consideration() const: Get the task categories.

std::unordered_map<std::string, ConsiderRequest> &task_consideration(): Mutable access to the task consideration map.

const std::unordered_map<std::string, ConsiderRequest> &action_consideration() const: Get the action categories.

std::unordered_map<std::string, ConsiderRequest> &action_consideration(): Mutable access to the action consideration map.

rmf_task::ConstRequestFactoryPtr finishing_request() const: Get the finishing request.

void set_finishing_request(rmf_task::ConstRequestFactoryPtr value): Set the finishing request.

bool skip_rotation_commands() const: Check whether rotation commands will be skipped.

void set_skip_rotation_commands(bool value): Set whether rotation commands will be skipped.

std::optional<std::string> server_uri() const: Get the server uri.

void set_server_uri(std::optional<std::string> value): Set the server uri.

rmf_traffic::Duration max_delay() const: Get the max delay.

void set_max_delay(rmf_traffic::Duration value): Set the max delay.

rmf_traffic::Duration update_interval() const: Get the update interval.

void set_update_interval(rmf_traffic::Duration value): Set the update interval.

bool default_responsive_wait() const: Should robots in this fleet have responsive wait enabled by default?

void set_default_responsive_wait(bool enable): Set whether robots in this fleet should have responsive wait enabled by default.

double default_max_merge_waypoint_distance() const: Get the maximum merge distance between a robot position and a waypoint.

void set_default_max_merge_waypoint_distance(double distance): Set the maximum merge distance between a robot position and a waypoint.

double default_max_merge_lane_distance() const: Get the maximum merge distance between a robot position and a lane.

void set_default_max_merge_lane_distance(double distance): Set the maximum merge distance between a robot position and a lane.

double default_min_lane_length() const: Get the minimum lane length allowed.

void set_default_min_lane_length(double distance): Set the minimum lane length.

void set_lift_emergency_level(std::string lift_name, std::string emergency_level_name)

During a fire emergency, real-life lifts might be required to move to a specific level and refuse to stop or go to any other level. This function lets you provide this information to the fleet adapter so that it can produce reasonable emergency pullover plans for robots that happen to be inside of a lift when the fire alarm goes off.

Internally, this will close all lanes that go into the specified lift and close all lanes exiting this lift (except on the designated level) when a fire emergency begins. Lifts that were not specified in a call to this function will not behave any differently during a fire emergency.

Parameters:

lift_name – [in] The name of the lift whose behavior is being specified
emergency_level_name – [in] The level that lift will go to when a fire emergency is happening

std::unordered_map<std::string, std::string> &change_lift_emergency_levels()

Get mutable access to the level that each specified lift will go to during a fire emergency.