Class Table::Viewer

Nested Relationships

This class is a nested type of Class Negotiation::Table.

Nested Types

Class Documentation

class Viewer

Public Types

using View = schedule::Viewer::View
using AlternativeMap = std::unordered_map<ParticipantId, std::shared_ptr<Alternatives>>

Public Functions

View query(const Query::Spacetime &parameters, const VersionedKeySequence &alternatives) const

View this table with the given parameters.

Parameters:

  • parameters – [in] The spacetime parameters to filter irrelevant routes out of the view

  • rollouts – [in] The selection of which rollout alternatives should be viewed for the participants who have rejected this proposal in the past.

std::unordered_map<ParticipantId, Endpoint> initial_endpoints(const VersionedKeySequence &alternatives) const

Get the set of initial waypoints for the negotiation participants.

std::unordered_map<ParticipantId, Endpoint> final_endpoints(const VersionedKeySequence &alterantives) const

Get the set of final waypoints for the negotiation participants.

const AlternativeMap &alternatives() const

When a Negotiation::Table is rejected by one of the participants who is supposed to respond, they can offer a set of rollout alternatives. If the proposer can accommodate one of the alternatives for each responding participant, then the negotiation might be able to proceed. This map gives the alternatives for each participant that has provided them.

const Proposal &base_proposals() const

The proposals submitted to the predecessor tables.

std::shared_ptr<const ParticipantDescription> get_description(ParticipantId participant_id) const

Get the description of a participant in this Viewer.

ParticipantId participant_id() const

Get the Participant ID of the participant who should submit to this table.

rmf_utils::optional<ParticipantId> parent_id() const

If the Table has a parent, get its Participant ID.

const VersionedKeySequence &sequence() const

The sequence of the table that is being viewed.

bool defunct() const

Returns true if the table of this viewer is no longer relevant. Unlike the other fields of the Viewer, this is not a snapshot of the table’s state when the Viewer was created; instead this defunct status will remain in sync with the state of the source Table.

bool rejected() const

Returns true if the proposal put on this Table has been rejected.

bool forfeited() const

Returns true if the proposer for this Table has forfeited.

const Itinerary *submission() const

Return the submission on this Negotiation Table if it has one.

std::optional<rmf_traffic::Time> earliest_base_proposal_time() const

The earliest start time of any of the proposals in the table.

std::optional<rmf_traffic::Time> latest_base_proposal_time() const

The latest finish time of any of the proposals in the table.

class Endpoint

View the first or last (depending on context) waypoint in a negotiation participant’s itinerary or alternative.

Public Functions

ParticipantId participant() const

The ID of the participant.

PlanId plan_id() const

The ID of the plan for this endpoint.

RouteId route_id() const

The ID of the route for this endpoint.

const rmf_traffic::Trajectory::Waypoint &waypoint() const

The first or last (depending on context) waypoint.

const std::string &map() const

The map that the endpoint is on.

const ParticipantDescription &description() const

The description of the participant.