.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_blockade_Participant.hpp:

Program Listing for File Participant.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_blockade_Participant.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/blockade/Participant.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__BLOCKADE__PARTICIPANT_HPP
   #define RMF_TRAFFIC__BLOCKADE__PARTICIPANT_HPP
   
   #include <rmf_traffic/blockade/Rectifier.hpp>
   #include <rmf_traffic/blockade/Writer.hpp>
   
   namespace rmf_traffic {
   namespace blockade {
   
   //==============================================================================
   class Participant
   {
   public:
   
     void radius(double new_radius);
   
     double radius() const;
   
     void set(std::vector<Writer::Checkpoint> path);
   
     const std::vector<Writer::Checkpoint>& path() const;
   
     void ready(CheckpointId checkpoint);
   
     void release(CheckpointId checkpoint);
   
     std::optional<CheckpointId> last_ready() const;
   
     void reached(CheckpointId checkpoint);
   
     void cancel();
   
     CheckpointId last_reached() const;
   
     ParticipantId id() const;
   
     std::optional<ReservationId> reservation_id() const;
   
     class Implementation;
   private:
     Participant();
     rmf_utils::unique_impl_ptr<Implementation> _pimpl;
   };
   
   //==============================================================================
   Participant make_participant(
     ParticipantId participant_id,
     double radius,
     std::shared_ptr<Writer> writer,
     std::shared_ptr<RectificationRequesterFactory> rectifier_factory = nullptr);
   
   } // namespace blockade
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__BLOCKADE__PARTICIPANT_HPP