.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_phases_SimplePhase.hpp:

Program Listing for File SimplePhase.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_phases_SimplePhase.hpp>` (``/tmp/ws/src/rmf_task/rmf_task_sequence/include/rmf_task_sequence/phases/SimplePhase.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2021 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_SEQUENCE__PHASES__SIMPLEPHASE_HPP
   #define RMF_TASK_SEQUENCE__PHASES__SIMPLEPHASE_HPP
   
   #include <rmf_task_sequence/Phase.hpp>
   #include <rmf_task_sequence/Event.hpp>
   
   namespace rmf_task_sequence {
   namespace phases {
   
   //==============================================================================
   class SimplePhase : public Phase
   {
   public:
   
     class Active;
   
     class Description;
     using DescriptionPtr = std::shared_ptr<Description>;
   
     static void add(
       Phase::Activator& phase_activator,
       const Event::ConstInitializerPtr& event_initializer);
   
   };
   
   //==============================================================================
   class SimplePhase::Description : public Phase::Description
   {
   public:
   
     static DescriptionPtr make(
       Event::ConstDescriptionPtr final_event,
       std::optional<std::string> category = std::nullopt,
       std::optional<std::string> detail = std::nullopt);
   
     const Event::ConstDescriptionPtr& final_event() const;
   
     Description& final_event(Event::ConstDescriptionPtr new_final_event);
   
     const std::optional<std::string>& category() const;
   
     Description& category(std::optional<std::string> new_category);
   
     const std::optional<std::string>& detail() const;
   
     Description& detail(std::optional<std::string> new_detail);
   
     // Documentation inherited
     Activity::ConstModelPtr make_model(
       State invariant_initial_state,
       const Parameters& parameters) const final;
   
     // Documentation inherited
     Header generate_header(
       const State& initial_state,
       const Parameters& parameters) const final;
   
     class Implementation;
   private:
     Description();
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace phases
   } // namespace rmf_task_sequence
   
   #endif // RMF_TASK_SEQUENCE__PHASES__SIMPLEPHASE_HPP