Class ParkRobotFactory

Inheritance Relationships

Base Type

Class Documentation

class ParkRobotFactory : public rmf_task::RequestFactory

The ParkRobotFactory will generate a request for the AGV to return to its desginated parking spot and remain idle there. This factory may be used when AGVs should not remain idle at the location of their last task but rather wait for new orders at their designated parking spots.

Public Functions

ParkRobotFactory(std::optional<std::size_t> parking_waypoint = std::nullopt)

Constructor

Parameters:

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.

ParkRobotFactory(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.

virtual ConstRequestPtr make_request(const State &state) const final

Documentation inherited.