Class EasyFullControl::CommandExecution
Defined in File EasyFullControl.hpp
Nested Relationships
This class is a nested type of Class EasyFullControl.
Class Documentation
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class CommandExecution
Used by system integrators to give feedback on the progress of executing a navigation or docking command.
Public Functions
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void finished()
Trigger this when the command is successfully finished. No other function in this CommandExecution instance will be usable after this.
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bool okay() const
Returns false if the command has been stopped.
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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.
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ConstActivityIdentifierPtr identifier() const
Activity handle for this command. Pass this into EasyRobotUpdateHandle::update_position while executing this command.
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void finished()