Program Listing for File Estimate.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__ESTIMATE_HPP
#define RMF_TASK__ESTIMATE_HPP

#include <optional>
#include <utility>

#include <rmf_task/State.hpp>
#include <rmf_task/Parameters.hpp>
#include <rmf_traffic/Time.hpp>
#include <rmf_traffic/agv/Planner.hpp>
#include <rmf_utils/impl_ptr.hpp>

namespace rmf_task {

//==============================================================================
class Estimate
{
public:

  Estimate(State finish_state, rmf_traffic::Time wait_until);

  State finish_state() const;

  Estimate& finish_state(State new_finish_state);

  rmf_traffic::Time wait_until() const;

  Estimate& wait_until(rmf_traffic::Time new_wait_until);

  class Implementation;
private:
  rmf_utils::impl_ptr<Implementation> _pimpl;
};

//==============================================================================
class TravelEstimator
{
public:

  TravelEstimator(const Parameters& parameters);

  class Result
  {
  public:

    rmf_traffic::Duration duration() const;

    double change_in_charge() const;

    class Implementation;
  private:
    Result();
    rmf_utils::impl_ptr<Implementation> _pimpl;
  };

  std::optional<Result> estimate(
    const rmf_traffic::agv::Plan::Start& start,
    const rmf_traffic::agv::Plan::Goal& goal) const;

  class Implementation;
private:
  rmf_utils::unique_impl_ptr<Implementation> _pimpl;
};

//==============================================================================
using ConstTravelEstimatorPtr = std::shared_ptr<const TravelEstimator>;

} // namespace rmf_task

#endif // RMF_TASK__ESTIMATE_HPP