Class SimpleResponder

Inheritance Relationships

public rmf_traffic::schedule::Negotiator::Responder (Class Negotiator::Responder)

class SimpleResponder : public rmf_traffic::schedule::Negotiator::Responder 

A simple implementation of a Negotiator::Responder. It simply passes the result along to the Negotiation.

Public Types

using ApprovalMap = std::unordered_map<Negotiation::ConstTablePtr, std::function<UpdateVersion()>>

Public Functions

SimpleResponder(const Negotiation::TablePtr &table, std::vector<schedule::ParticipantId> *report_blockers = nullptr)

Constructor

Parameters:

table – [in] The negotiation table that this SimpleResponder is tied to
report_blockers – [in] If the blockers should be reported when a forfeit is given, provide a pointer to a vector of ParticipantIds.

SimpleResponder(const Negotiation::TablePtr &table, std::shared_ptr<ApprovalMap> approval_map, std::shared_ptr<BlockerSet> blockers)

Constructor

Parameters:

table – [in] The negotiation table that this SimpleResponder is tied to
approval_map – [in] If provided, the responder will store the approval callback in this map
blockers – [in] If provided, the responder will store any solution blockers in this set

void submit(PlanId plan_id, std::vector<Route> itinerary, std::function<UpdateVersion()> approval_callback = nullptr) const final

virtual void reject(const Negotiation::Alternatives &alternatives) const final: The negotiator will call this function if it has decided to reject an attempt to negotiate. It must supply a set of alternatives for the parent negotiator to consider for its next proposal.

virtual void forfeit(const std::vector<ParticipantId> &blockers) const final

The negotiator will call this function if it cannot find any feasible proposal or alternative that can be accommodated by the parent.

Parameters:: blockers – [in] Give the set of schedule participants that are blocking a solution from being found.

const std::vector<ParticipantId> &blockers() const: Get the blockers that were reported by the Negotiator, if a forfeit was given.

Public Static Functions

template<typename ...Args> static inline std::shared_ptr<SimpleResponder> make(Args&&... args)