Program Listing for File Rollout.hpp

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/*
 * 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__AGV__ROLLOUT_HPP
#define RMF_TRAFFIC__AGV__ROLLOUT_HPP

#include <rmf_traffic/agv/Planner.hpp>

namespace rmf_traffic {
namespace agv {

//==============================================================================
class Rollout
{
public:

  Rollout(Planner::Result result);

  std::vector<schedule::Itinerary> expand(
    schedule::ParticipantId blocker,
    rmf_traffic::Duration span,
    const Planner::Options& options,
    rmf_utils::optional<std::size_t> max_rollouts = rmf_utils::nullopt) const;

  std::vector<schedule::Itinerary> expand(
    schedule::ParticipantId blocker,
    rmf_traffic::Duration span,
    rmf_utils::optional<std::size_t> max_rollouts = rmf_utils::nullopt) const;

  class Implementation;
private:
  rmf_utils::impl_ptr<Implementation> _pimpl;
};

} // namespace agv
} // namespace rmf_traffic

#endif // RMF_TRAFFIC__AGV__ROLLOUT_HPP