Class Activity::Description

• Defined in File Activity.hpp

Nested Relationships

This class is a nested type of Class Activity.

Inheritance Relationships

Derived Types

• public rmf_task_sequence::Phase::Description (Class Phase::Description)

• public rmf_task_sequence::events::Bundle::Description (Class Bundle::Description)

• public rmf_task_sequence::events::DropOff::Description (Class DropOff::Description)

• public rmf_task_sequence::events::GoToPlace::Description (Class GoToPlace::Description)

• public rmf_task_sequence::events::PerformAction::Description (Class PerformAction::Description)

• public rmf_task_sequence::events::PickUp::Description (Class PickUp::Description)

• public rmf_task_sequence::events::Placeholder::Description (Class Placeholder::Description)

• public rmf_task_sequence::events::WaitFor::Description (Class WaitFor::Description)

Class Documentation

class Description

Subclassed by rmf_task_sequence::Phase::Description, rmf_task_sequence::events::Bundle::Description, rmf_task_sequence::events::DropOff::Description, rmf_task_sequence::events::GoToPlace::Description, rmf_task_sequence::events::PerformAction::Description, rmf_task_sequence::events::PickUp::Description, rmf_task_sequence::events::Placeholder::Description, rmf_task_sequence::events::WaitFor::Description

Public Functions

virtual ConstModelPtr make_model(State invariant_initial_state, const Parameters &parameters) const = 0

Generate a Model for this Activity based on its description, parameters, and the invariants of its initial state.

Parameters:

• invariant_initial_state – [in] A partial state that represents the state components which will definitely be true when this Activity begins.

• parameters – [in] The parameters for the robot.

Returns:

a model based on the given start state and parameters.

virtual Header generate_header(const State &initial_state, const Parameters &parameters) const = 0

Generate human-friendly header information for this Activity.

Parameters:

• initial_state – [in] The expected initial state when the activity begins

• parameters – [in] Parameters of the robot during the Activity

virtual ~Description() = default