Class EasyFullControl::RobotConfiguration

Nested Relationships

This class is a nested type of Class EasyFullControl.

Class Documentation

class RobotConfiguration

The configuration of a robot. These are parameters that typically do not change over time.

Public Functions

RobotConfiguration(std::vector<std::string> compatible_chargers, std::optional<bool> responsive_wait = std::nullopt, std::optional<double> max_merge_waypoint_distance = 1e-3, std::optional<double> max_merge_lane_distance = 0.3, std::optional<double> min_lane_length = 1e-8)

Constructor

Warning

This must contain a single string value until a later release of RMF. We are using a vector for forward API compatibility. For now, make sure each robot has only one unique compatible charger to avoid charging conflicts.

Parameters:

  • compatible_chargers – [in] List of chargers that this robot is compatible with

  • responsive_wait – [in] Should this robot use the responsive wait behavior? true / false / fleet default.

const std::vector<std::string> &compatible_chargers() const

List of chargers that this robot is compatible with.

void set_compatible_chargers(std::vector<std::string> chargers)

Set the list of chargers compatible with this robot.

std::optional<bool> responsive_wait() const

Should this robot use the responsive wait behavior? Responsive wait means that when the robot is idle on a point, it will report to the traffic schedule that it is waiting on that point, and it will negotiate with other robots to let them pass while ultimately remaining on the point.

If std::nullopt is used, then the fleet-wide responsive wait behavior will be used.

void set_responsive_wait(std::optional<bool> enable)

Toggle responsive wait on (true), off (false), or use fleet default (std::nullopt).

std::optional<double> max_merge_waypoint_distance() const

Get the maximum merge distance between a robot and a waypoint. This refers to the maximum distance allowed to consider a robot to be on a particular waypoint.

If std::nullopt is used, then the fleet-wide default merge waypoint distance will be used.

void set_max_merge_waypoint_distance(std::optional<double> distance)

Set the maximum merge distance between a robot and a waypoint.

std::optional<double> max_merge_lane_distance() const

Get the maximum merge distance between a robot and a lane. This refers to the maximum distance allowed to consider a robot to be on a particular lane.

If std::nullopt is used, then the fleet-wide default merge lane distance will be used.

void set_max_merge_lane_distance(std::optional<double> distance)

Set the maximum merge distance between a robot and a lane.

std::optional<double> min_lane_length() const

Get the minimum lane length.

If std::nullopt is used, then the fleet-wide default minimum lane length will be used.

void set_min_lane_length(std::optional<double> distance)

Set the minimum lane length.