Program Listing for File Constraints.hpp

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/*
 * 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