Class Lane::Node

• Defined in File Graph.hpp

Nested Relationships

This class is a nested type of Class Graph::Lane.

Class Documentation

class Node

A Lane Node wraps up a Waypoint with constraints. The constraints stipulate the conditions for entering or exiting the lane to reach this waypoint.

Public Functions

Node(std::size_t waypoint_index, rmf_utils::clone_ptr<Event> event = nullptr, rmf_utils::clone_ptr<OrientationConstraint> orientation = nullptr)

Constructor

Parameters:

• waypoint_index – The index of the waypoint for this Node

• event – An event that must happen before/after this Node is approached (before if it’s an entry Node or after if it’s an exit Node).

• orientation – Any orientation constraints for moving to/from this Node (depending on whether it’s an entry Node or an exit Node).

Node(std::size_t waypoint_index, rmf_utils::clone_ptr<OrientationConstraint> orientation)

Constructor. The event parameter will be nullptr.

Parameters:

• waypoint_index – The index of the waypoint for this Node

• orientation – Any orientation constraints for moving to/from this Node (depending on whether it’s an entry Node or an exit Node).

std::size_t waypoint_index() const

Get the index of the waypoint that this Node is wrapped around.

const Event *event() const

Get a reference to an event that must occur before or after this Node is visited.

Note

Before if this is an entry node or after if this is an exit node

Node &event(rmf_utils::clone_ptr<Event> new_event)

Set the event that must occur before or after this Node is visited.

const OrientationConstraint *orientation_constraint() const

Get the constraint on orientation that is tied to this Node.