.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_Route.hpp:

Program Listing for File Route.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_Route.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/Route.hpp``)

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

.. code-block:: cpp

   /*
    * Copyright (C) 2020 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_TRAFFIC__ROUTE_HPP
   #define RMF_TRAFFIC__ROUTE_HPP
   
   #include <rmf_traffic/Trajectory.hpp>
   
   #include <rmf_utils/impl_ptr.hpp>
   
   #include <optional>
   #include <set>
   #include <map>
   #include <unordered_map>
   
   namespace rmf_traffic {
   
   //==============================================================================
   using RouteId = uint64_t;
   using ParticipantId = uint64_t;
   using CheckpointId = uint64_t;
   using PlanId = uint64_t;
   
   struct Dependency
   {
     uint64_t on_participant;
     uint64_t on_plan;
     uint64_t on_route;
     uint64_t on_checkpoint;
   
     bool operator==(const Dependency& other) const;
   };
   
   using Dependencies = std::vector<Dependency>;
   
   using DependsOnCheckpoint = std::map<CheckpointId, CheckpointId>;
   
   using DependsOnRoute = std::unordered_map<RouteId, DependsOnCheckpoint>;
   
   //==============================================================================
   class DependsOnPlan
   {
   public:
   
     DependsOnPlan();
   
     DependsOnPlan(PlanId plan, DependsOnRoute routes);
   
     DependsOnPlan& plan(std::optional<PlanId> plan);
   
     std::optional<PlanId> plan() const;
   
     DependsOnPlan& routes(DependsOnRoute routes);
   
     DependsOnRoute& routes();
   
     const DependsOnRoute& routes() const;
   
     struct Dependency
     {
       RouteId on_route;
       CheckpointId on_checkpoint;
     };
   
     DependsOnPlan& add_dependency(
       CheckpointId dependent_checkpoint,
       Dependency dependency);
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   using DependsOnParticipant = std::unordered_map<ParticipantId, DependsOnPlan>;
   
   //==============================================================================
   class Route
   {
   public:
   
     Route(
       std::string map,
       Trajectory trajectory);
   
     Route& map(std::string value);
   
     const std::string& map() const;
   
     Route& trajectory(Trajectory value);
   
     Trajectory& trajectory();
   
     const Trajectory& trajectory() const;
   
     Route& checkpoints(std::set<uint64_t> value);
   
     std::set<uint64_t>& checkpoints();
   
     const std::set<uint64_t>& checkpoints() const;
   
     Route& dependencies(DependsOnParticipant value);
   
     DependsOnParticipant& dependencies();
   
     const DependsOnParticipant& dependencies() const;
   
     Route& add_dependency(
       CheckpointId dependent_checkpoint,
       Dependency dependency);
   
     bool should_ignore(ParticipantId participant, PlanId plan) const;
   
     const DependsOnCheckpoint* check_dependencies(
       ParticipantId on_participant,
       PlanId on_plan,
       RouteId on_route) const;
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   using RoutePtr = std::shared_ptr<Route>;
   using ConstRoutePtr = std::shared_ptr<const Route>;
   
   } // namespace rmf_traffic
   
   
   #endif // RMF_TRAFFIC__SCHEDULDE__ROUTE_HPP