.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_include_rmf_task_Constraints.hpp:

Program Listing for File Constraints.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_include_rmf_task_Constraints.hpp>` (``/tmp/ws/src/rmf_task/rmf_task/include/rmf_task/Constraints.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2020 Open Source Robotics Foundation
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
   */
   
   #ifndef RMF_TASK__AGV__CONSTRAINTS_HPP
   #define RMF_TASK__AGV__CONSTRAINTS_HPP
   
   #include <rmf_utils/impl_ptr.hpp>
   
   namespace rmf_task {
   
   //==============================================================================
   class Constraints
   {
   public:
   
     Constraints(
       double threshold_soc,
       double recharge_soc = 1.0,
       bool drain_battery = true);
   
     double threshold_soc() const;
   
     Constraints& threshold_soc(double threshold_soc);
   
     double recharge_soc() const;
   
     Constraints& recharge_soc(double recharge_soc);
   
     bool drain_battery() const;
   
     Constraints& drain_battery(bool drain_battery);
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace rmf_task
   
   #endif // RMF_TASK__AGV__CONSTRAINTS_HPP