Class Planner::Goal

Nested Relationships

This class is a nested type of Class Planner.

Class Documentation

class Goal

Describe the goal conditions of a plan.

Public Functions

Goal(std::size_t goal_waypoint)

Constructor

Note

With this constructor, any final orientation will be accepted.

Parameters:

goal_waypoint – [in] The waypoint that the AGV needs to reach.

Goal(std::size_t goal_waypoint, double goal_orientation)

Constructor

Parameters:

  • goal_waypoint – [in] The waypoint that the AGV needs to reach.

  • goal_orientation – [in] The orientation that the AGV needs to end with.

Goal(std::size_t goal_waypoint, std::optional<rmf_traffic::Time> minimum_time, std::optional<double> goal_orientation = std::nullopt)

Constructor

Parameters:

  • goal_waypoint – [in] The waypoint that the AGV needs to reach.

  • minimum_time – [in] The AGV must be on the goal waypoint at or after this time for the plan to be successful. This is useful if a robot needs to wait at a location, but you want it to give way for other robots.

  • goal_orientation – [in] An optional goal orientation that the AGV needs to end with.

Goal &waypoint(std::size_t goal_waypoint)

Set the goal waypoint.

std::size_t waypoint() const

Get the goal waypoint.

Goal &orientation(double goal_orientation)

Set the goal orientation.

Goal &any_orientation()

Accept any orientation for the final goal.

const double *orientation() const

Get a reference to the goal orientation (or a nullptr if any orientation is acceptable).

Goal &minimum_time(std::optional<rmf_traffic::Time> value)

Set the minimum time for the goal. Pass in a nullopt to remove the minimum time.

std::optional<rmf_traffic::Time> minimum_time() const

Get the minimum time for the goal (or a nullopt is there is no minimum time).