Class ChargeBatteryFactory

Inheritance Relationships

Base Type

Class Documentation

class ChargeBatteryFactory : public rmf_task::RequestFactory

The ChargeBatteryFactory will generate a ChargeBattery request which requires an AGV to return to its desginated charging_waypoint as specified in its agv::State and wait till its battery charges up to the recharge_soc configured in agv::Constraints recharge_soc specified in its agv::Constraints

Public Functions

ChargeBatteryFactory()

Constructor.

explicit ChargeBatteryFactory(const std::string &requester, std::function<rmf_traffic::Time()> time_now_cb)

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.

void set_indefinite(bool value)

Set the charging task to run indefinitely. This means it will never declare itself as finished and must instead be canceled. This can be used for idle tasks that are canceled automatically when a task request comes in. If indefinite is false, the robot will charge up to its designated recharge level.

bool indefinite() const

Does this factory produce charging requests that will run indefinitely?

virtual ConstRequestPtr make_request(const State &state) const final

Documentation inherited.