.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_schedule_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_schedule_Participant.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/schedule/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__SCHEDULE__PARTICIPANT_HPP
   #define RMF_TRAFFIC__SCHEDULE__PARTICIPANT_HPP
   
   #include <rmf_traffic/schedule/ParticipantDescription.hpp>
   #include <rmf_traffic/schedule/Writer.hpp>
   #include <rmf_traffic/schedule/Rectifier.hpp>
   
   #include <rmf_utils/AssignID.hpp>
   
   #include <unordered_set>
   
   namespace rmf_traffic {
   namespace schedule {
   
   //==============================================================================
   class Participant
   {
   public:
   
     using PlanId = Writer::PlanId;
   
     bool set(PlanId plan, std::vector<Route> itinerary);
   
     std::optional<Duration> cumulative_delay(PlanId plan) const;
   
     bool cumulative_delay(
       PlanId plan,
       Duration delay,
       Duration tolerance = Duration(0));
   
     [[deprecated("Use cumulative_delay instead")]]
     void delay(Duration delay);
   
     [[deprecated("Use cumulative_delay instead")]]
     Duration delay() const;
   
     void reached(PlanId plan, RouteId route, CheckpointId checkpoint);
   
     const std::vector<CheckpointId>& reached() const;
   
     void clear();
   
     const Itinerary& itinerary() const;
   
     //
     // TODO(MXG): This function needs to be unit tested.
     ItineraryVersion version() const;
   
     const ParticipantDescription& description() const;
   
     ParticipantId id() const;
   
     using AssignIDPtr = std::shared_ptr<const rmf_utils::AssignID<PlanId>>;
   
     const AssignIDPtr& plan_id_assigner() const;
   
     PlanId assign_plan_id() const;
   
     PlanId current_plan_id() const;
   
     void change_profile(Profile new_profile);
   
     // This class supports moving but not copying
     Participant(Participant&&) = default;
     Participant& operator=(Participant&&) = default;
   
     ~Participant() = default;
   
     class Implementation;
     class Debug;
   private:
     // The constructor for this class is private. It should only be constructed
     // using make_participant
     Participant();
     rmf_utils::unique_impl_ptr<Implementation> _pimpl;
   };
   
   //==============================================================================
   Participant make_participant(
     ParticipantDescription description,
     std::shared_ptr<Writer> writer,
     std::shared_ptr<RectificationRequesterFactory> rectifier_factory = nullptr);
   
   } // namespace schedule
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__SCHEDULE__PARTICIPANT_HPP