Class EasyFullControl::Destination

Nested Relationships

This class is a nested type of Class EasyFullControl.

Class Documentation

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.