Class SimplePhase

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class SimplePhase : public rmf_task_sequence::Phase

Public Types

using DescriptionPtr = std::shared_ptr<Description>

Public Static Functions

static void add(Phase::Activator &phase_activator, const Event::ConstInitializerPtr &event_initializer)
class Description : public rmf_task_sequence::Phase::Description

Public Functions

const Event::ConstDescriptionPtr &final_event() const

Get the final event.

Description &final_event(Event::ConstDescriptionPtr new_final_event)

Set the final event.

const std::optional<std::string> &category() const

Get the category.

Description &category(std::optional<std::string> new_category)

Set the category.

const std::optional<std::string> &detail() const

Get the detail.

Description &detail(std::optional<std::string> new_detail)

Set the detail.

virtual Activity::ConstModelPtr make_model(State invariant_initial_state, const Parameters &parameters) const final

Generate a Model for this Activity based on its description, parameters, and the invariants of its initial state.

Parameters:

  • invariant_initial_state – [in] A partial state that represents the state components which will definitely be true when this Activity begins.

  • parameters – [in] The parameters for the robot.

Returns:

a model based on the given start state and parameters.

virtual Header generate_header(const State &initial_state, const Parameters &parameters) const final

Generate human-friendly header information for this Activity.

Parameters:

  • initial_state – [in] The expected initial state when the activity begins

  • parameters – [in] Parameters of the robot during the Activity

Public Static Functions

static DescriptionPtr make(Event::ConstDescriptionPtr final_event, std::optional<std::string> category = std::nullopt, std::optional<std::string> detail = std::nullopt)

Make a SimplePhase description.

Parameters:

  • final_event – [in] This is the final event which determines when the phase is finished

  • category – [in] Specify a custom category string. If this is null, then the phase will borrow the category from the final_event.

  • detail – [in] Specify a custom detail string for the phase. If this is null, then the phase will borrow the detail from the final_event.