.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_include_rmf_task_State.hpp:

Program Listing for File State.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_include_rmf_task_State.hpp>` (``/tmp/ws/src/rmf_task/rmf_task/include/rmf_task/State.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * 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_TASK__STATE_HPP
   #define RMF_TASK__STATE_HPP
   
   #include <chrono>
   
   #include <rmf_utils/impl_ptr.hpp>
   
   #include <rmf_traffic/Time.hpp>
   #include <rmf_traffic/agv/Planner.hpp>
   
   #include <rmf_task/CompositeData.hpp>
   
   namespace rmf_task {
   
   //==============================================================================
   class State : public CompositeData
   {
   public:
   
     RMF_TASK_DEFINE_COMPONENT(std::size_t, CurrentWaypoint);
     std::optional<std::size_t> waypoint() const;
     State& waypoint(std::size_t new_waypoint);
   
     RMF_TASK_DEFINE_COMPONENT(double, CurrentOrientation);
     std::optional<double> orientation() const;
     State& orientation(double new_orientation);
   
     RMF_TASK_DEFINE_COMPONENT(rmf_traffic::Time, CurrentTime);
     std::optional<rmf_traffic::Time> time() const;
     State& time(rmf_traffic::Time new_time);
   
     // TODO(MXG): Consider removing this field and using some kind of
     // ChargingStrategy abstract interface to determine where and how the robots
     // should be charging.
     RMF_TASK_DEFINE_COMPONENT(std::size_t, DedicatedChargingPoint);
     std::optional<std::size_t> dedicated_charging_waypoint() const;
     State& dedicated_charging_waypoint(std::size_t new_charging_waypoint);
   
     RMF_TASK_DEFINE_COMPONENT(double, CurrentBatterySoC);
     std::optional<double> battery_soc() const;
     State& battery_soc(double new_battery_soc);
   
     State& load_basic(
       const rmf_traffic::agv::Plan::Start& location,
       std::size_t charging_point,
       double battery_soc);
   
     State& load(const rmf_traffic::agv::Plan::Start& location);
   
     std::optional<rmf_traffic::agv::Plan::Start> project_plan_start(
       double default_orientation = 0.0,
       rmf_traffic::Time default_time = rmf_traffic::Time()) const;
   
     std::optional<rmf_traffic::agv::Plan::Start> extract_plan_start() const;
   };
   
   } // namespace rmf_task
   
   #endif // RMF_TASK__AGV__STATE_HPP