Function rmf_traffic::blockade::make_participant

• Defined in File Participant.hpp

Function Documentation

Participant rmf_traffic::blockade::make_participant(ParticipantId participant_id, double radius, std::shared_ptr<Writer> writer, std::shared_ptr<RectificationRequesterFactory> rectifier_factory = nullptr)

Make a blockade participant.

Parameters:

• participant_id – [in] Every blockade participant must also be a schedule participant. Pass in the schedule participant ID here.

• radius – [in] The initial default radius to use for this participant’s blockade.

• writer – [in] The writer that this participant should interact with.

• rectifier_factory – [in] The factory that this participant should use to create a rectifier for itself. If no factory is provided, we will assume the writer is always perfectly reliable.