Program Listing for File GoToPlace.hpp

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/*
 * 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__EVENTS__GOTOPLACE_HPP
#define RMF_TASK_SEQUENCE__EVENTS__GOTOPLACE_HPP

#include <rmf_traffic/agv/Planner.hpp>

#include <rmf_task_sequence/Event.hpp>

namespace rmf_task_sequence {
namespace events {

//==============================================================================
class GoToPlace
{
public:
  using Goal = rmf_traffic::agv::Plan::Goal;

  class Description;
  using DescriptionPtr = std::shared_ptr<Description>;
  using ConstDescriptionPtr = std::shared_ptr<const Description>;

  class Model;
};

//==============================================================================
class GoToPlace::Description : public Event::Description
{
public:

  static DescriptionPtr make(Goal goal);

  static DescriptionPtr make_for_one_of(std::vector<Goal> goal);

  const std::vector<Goal>& one_of() const;

  [[deprecated("Use one_of() instead. Always assume that multiple destinations are possible.")]]
  const Goal& destination() const;

  Description& destination(Goal new_goal);

  std::string destination_name(const rmf_task::Parameters& parameters) const;

  const std::vector<Goal>& expected_next_destinations() const;

  Description& expected_next_destinations(std::vector<Goal> value);

  bool prefer_same_map() const;

  Description& prefer_same_map(bool choice);

  // 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 events
} // namespace rmf_task_sequence

#endif // RMF_TASK_SEQUENCE__EVENTS__GOTOPLACE_HPP