Class Plan

Defined in File Planner.hpp

Nested Relationships

Nested Types

Class Documentation

class Plan

Public Types

using Start = Planner::Start 

using StartSet = Planner::StartSet 

using Goal = Planner::Goal 

using Options = Planner::Options 

using Configuration = Planner::Configuration 

using Result = Planner::Result 

using Checkpoints = std::vector<Checkpoint>

Public Functions

const std::vector<Route> &get_itinerary() const: If this Plan is valid, this will return the trajectory of the successful plan. If the Start satisfies the Goal, then the itinerary will be empty.

const std::vector<Waypoint> &get_waypoints() const: If this plan is valid, this will return the waypoints of the successful plan.

const Start &get_start() const: Get the start condition that was used for this plan.

double get_cost() const: Get the final cost of this plan.

struct Checkpoint

Public Members

RouteId route_id

CheckpointId checkpoint_id

struct Progress

Public Members

std::size_t graph_index

Checkpoints checkpoints

rmf_traffic::Time time

class Waypoint

A Waypoint within a Plan.

This class helps to discretize a Plan based on the Waypoints belonging to the agv::Graph. Each Graph::Waypoint that the Plan stops or turns at will be accounted for by a Plan::Waypoint.

To indicate the intended orientation, each of these Waypoints provides an Eigen::Vector3d where the third element is the orientation.

The time that the position is meant to be arrived at is also given by the Waypoint.

Note

Users are not allowed to make their own Waypoint instances, because it is too easy to accidentally get inconsistencies in the position and graph_index fields. Plan::Waypoints can only be created by Plan instances and can only be retrieved using Plan::get_waypoints().

Public Functions

const Eigen::Vector3d &position() const: Get the position for this Waypoint.

rmf_traffic::Time time() const: Get the time for this Waypoint.

std::optional<std::size_t> graph_index() const: Get the graph index of this Waypoint.

const std::vector<std::size_t> &approach_lanes() const: Get the graph indices of the lanes that will be traversed on the way to this Waypoint. This will have multiple values if the robot is able to move straight through multiple lanes without stopping to reach this Waypoint. It will be empty if the robot does not need to traverse any lanes to reach this Waypoint (e.g. it is simply turning in place).

const std::vector<Progress> &progress_checkpoints() const: Points on the graph that will be passed along the way to this waypoint.

const Checkpoints &arrival_checkpoints() const: Points in the itinerary that have been reached when the robot arrives at this waypoint.

std::size_t itinerary_index() const

std::size_t trajectory_index() const

const Graph::Lane::Event *event() const: An event that should occur when this waypoint is reached.

const Dependencies &dependencies() const: The dependencies on other traffic participants that must be satisfied before leaving this waypoint.