Class Auctioneer

Defined in File Auctioneer.hpp

Nested Relationships

Nested Types

Class Auctioneer::Evaluator

Inheritance Relationships

Base Type

public std::enable_shared_from_this< Auctioneer >

Class Documentation

class Auctioneer : public std::enable_shared_from_this<Auctioneer>

The Auctioneer class is responsible for initiating and mediating the bidding process during task dispatching. Hence, this class instance is solely used within the Dispatcher class

Public Types

using BiddingResultCallback = std::function<void(const std::string &task_id, const std::optional<Response::Proposal> winner, const std::vector<std::string> &errors)>

Callback which will provide the winner when a bid is concluded

Param task_id:: [in] bidding task id
Param winner:: [in] single winner from all submissions. nullopt if non

using ConstEvaluatorPtr = std::shared_ptr<const Evaluator>

Public Functions

void request_bid(const BidNoticeMsg &bid_notice)

Start a bidding process by provide a bidding task. Note the each bidding process is conducted sequentially

Parameters:: bid_notice – [in] bidding task, task which will call for bid

void ready_for_next_bid(): Call this to tell the auctioneer that it may begin to perform the next bid.

void set_evaluator(ConstEvaluatorPtr evaluator)

Provide a custom evaluator which will be used to choose the best bid If no selection is given, Default is: LeastFleetDiffCostEvaluator

Parameters:: evaluator – [in]

Public Static Functions

static std::shared_ptr<Auctioneer> make(const std::shared_ptr<rclcpp::Node> &node, BiddingResultCallback result_callback, ConstEvaluatorPtr evaluator)

Create an instance of the Auctioneer. This instance will handle all the task dispatching bidding mechanism. A default evaluator is used.