.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_include_rmf_task_requests_Clean.hpp:

Program Listing for File Clean.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_include_rmf_task_requests_Clean.hpp>` (``/tmp/ws/src/rmf_task/rmf_task/include/rmf_task/requests/Clean.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__REQUESTS__CLEAN_HPP
   #define RMF_TASK__REQUESTS__CLEAN_HPP
   
   #include <chrono>
   #include <string>
   #include <optional>
   
   #include <rmf_traffic/Time.hpp>
   #include <rmf_traffic/Trajectory.hpp>
   #include <rmf_traffic/agv/Planner.hpp>
   
   #include <rmf_battery/MotionPowerSink.hpp>
   #include <rmf_battery/DevicePowerSink.hpp>
   
   #include <rmf_task/State.hpp>
   #include <rmf_task/Request.hpp>
   #include <rmf_task/Estimate.hpp>
   
   namespace rmf_task {
   namespace requests {
   
   //==============================================================================
   class Clean
   {
   public:
   
     // Forward declare the model for this request
     class Model;
   
     class Description : public Task::Description
     {
     public:
   
       static std::shared_ptr<Description> make(
         std::size_t start_waypoint,
         std::size_t end_waypoint,
         const rmf_traffic::Trajectory& cleaning_path);
   
       // Documentation inherited
       Task::ConstModelPtr make_model(
         rmf_traffic::Time earliest_start_time,
         const Parameters& parameters) const final;
   
       // Documentation inherited
       Info generate_info(
         const State& initial_state,
         const Parameters& parameters) const final;
   
       std::size_t start_waypoint() const;
   
       std::size_t end_waypoint() const;
   
       class Implementation;
     private:
       Description();
       rmf_utils::impl_ptr<Implementation> _pimpl;
     };
   
     static ConstRequestPtr make(
       std::size_t start_waypoint,
       std::size_t end_waypoint,
       const rmf_traffic::Trajectory& cleaning_path,
       const std::string& id,
       rmf_traffic::Time earliest_start_time,
       ConstPriorityPtr priority = nullptr,
       bool automatic = false);
   
     static ConstRequestPtr make(
       std::size_t start_waypoint,
       std::size_t end_waypoint,
       const rmf_traffic::Trajectory& cleaning_path,
       const std::string& id,
       rmf_traffic::Time earliest_start_time,
       const std::string& requester,
       rmf_traffic::Time request_time,
       ConstPriorityPtr priority = nullptr,
       bool automatic = false);
   };
   
   } // namespace requests
   } // namespace rmf_task
   
   #endif // RMF_TASK__REQUESTS__CLEAN_HPP