Class Loop

Nested Relationships

Nested Types

Class Documentation

class Loop

A class that generates a Request which requires an AGV to repeatedly travel between two locations

Public Static Functions

static ConstRequestPtr make(std::size_t start_waypoint, std::size_t finish_waypoint, std::size_t num_loops, const std::string &id, rmf_traffic::Time earliest_start_time, ConstPriorityPtr priority = nullptr, bool automatic = false)

Generate a loop request

Parameters:

  • start_waypoint – [in] The graph index for the starting waypoint of the loop

  • finish_waypoint – [in] The graph index for the finishing waypoint of the loop

  • num_loops – [in] The number of times the AGV should loop between the start_waypoint and finish_waypoint

  • id – [in] A unique id for this request

  • earliest_start_time – [in] The desired start time for this request

  • priority – [in] The priority for this request

  • automatic – [in] True if this request is auto-generated

static ConstRequestPtr make(std::size_t start_waypoint, std::size_t finish_waypoint, std::size_t num_loops, const std::string &id, rmf_traffic::Time earliest_start_time, const std::string &requester, rmf_traffic::Time request_time, ConstPriorityPtr priority = nullptr, bool automatic = false)

Generate a loop request.

Parameters:

  • start_waypoint – [in] The graph index for the starting waypoint of the loop.

  • finish_waypoint – [in] The graph index for the finishing waypoint of the loop.

  • num_loops – [in] The number of times the AGV should loop between the start_waypoint and finish_waypoint.

  • id – [in] A unique id for this request.

  • earliest_start_time – [in] The desired start time for this request.

  • requester – [in] The entity that issued this request.

  • request_time – [in] The time this request was generated or submitted.

  • priority – [in] The priority for this request.

  • automatic – [in] True if this request is auto-generated, default as false.

class Description : public rmf_task::Task::Description

Public Functions

virtual Task::ConstModelPtr make_model(rmf_traffic::Time earliest_start_time, const Parameters &parameters) const final

Generate a Model for the task based on the unique traits of this description

Parameters:

  • earliest_start_time – [in] The earliest time this task should begin execution. This is usually the requested start time for the task.

  • parameters – [in] The parameters that describe this AGV

virtual Info generate_info(const State &initial_state, const Parameters &parameters) const final

Generate a plain text info description for the task, given the predicted initial state and the task planning parameters.

Parameters:

  • initial_state – [in] The predicted initial state for the task

  • parameters – [in] The task planning parameters

std::size_t start_waypoint() const

Get the start waypoint of the loop in this request.

std::size_t finish_waypoint() const

Get the finish waypoint of the loop in this request.

std::size_t num_loops() const

Get the numbert of loops in this request.

Public Static Functions

static Task::ConstDescriptionPtr make(std::size_t start_waypoint, std::size_t finish_waypoint, std::size_t num_loops)

Generate the description for this request.