Class TaskPlanner::Options

Nested Relationships

This class is a nested type of Class TaskPlanner.

Class Documentation

class Options

The Options class contains planning parameters that can change between each planning attempt.

Public Functions

Options(bool greedy, std::function<bool()> interrupter = nullptr, ConstRequestFactoryPtr finishing_request = nullptr)

Constructor

Parameters:

  • greedy – [in] If true, a greedy approach will be used to solve for the task assignments. Optimality is not guaranteed but the solution time may be faster. If false, an A* based approach will be used within the planner which guarantees optimality but may take longer to solve.

  • interrupter – [in] A function that can determine whether the planning should be interrupted.

  • finishing_request – [in] A request factory that generates a tailored task for each agent/AGV to perform at the end of their assignments

Options &greedy(bool value)

Set whether a greedy approach should be used.

bool greedy() const

Get whether a greedy approach will be used.

Options &interrupter(std::function<bool()> interrupter)

Set an interrupter callback that will indicate to the planner if it should stop trying to plan

const std::function<bool()> &interrupter() const

Get the interrupter that will be used in this Options.

Options &finishing_request(ConstRequestFactoryPtr finishing_request)

Set the request factory that will generate a finishing task.

ConstRequestFactoryPtr finishing_request() const

Get the request factory that will generate a finishing task.