Class ParkRobotIndefinitely

Inheritance Relationships

Base Type

  • public rmf_task::RequestFactory

Class Documentation

class ParkRobotIndefinitely : public rmf_task::RequestFactory

Use this task factory to make finisher tasks (idle tasks) that will move the robot to a parking spot.

Public Functions

ParkRobotIndefinitely(const std::string &requester, std::function<rmf_traffic::Time()> time_now_cb, std::optional<std::size_t> parking_waypoint = std::nullopt)

Constructor

Parameters:

  • requester – [in] The identifier of the entity that owns this RequestFactory, that will be the designated requester of each new request.

  • time_now_cb – [in] Callback function that returns the current time.

  • parking_waypoint – [in] The graph index of the waypoint assigned to this AGV for parking. If nullopt, the AGV will return to its charging_waypoint and remain idle there. It will not wait for its battery to charge up before undertaking new tasks.

rmf_task::ConstRequestPtr make_request(const rmf_task::State &state) const final