.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_Task.hpp:

Program Listing for File Task.hpp
=================================

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

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

.. code-block:: cpp

   /*
    * Copyright (C) 2021 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_SEQUENCE__TASK_HPP
   #define RMF_TASK_SEQUENCE__TASK_HPP
   
   #include <rmf_task/Request.hpp>
   #include <rmf_task/Task.hpp>
   #include <rmf_task/Activator.hpp>
   #include <rmf_task_sequence/Phase.hpp>
   
   #include <rmf_task_sequence/typedefs.hpp>
   
   namespace rmf_task_sequence {
   
   //==============================================================================
   class Task : public rmf_task::Task
   {
   public:
   
     // Declaration
     class Builder;
   
     // Declaration
     class Active;
   
     // Declaration
     class Description;
     using DescriptionPtr = std::shared_ptr<Description>;
     using ConstDescriptionPtr = std::shared_ptr<const Description>;
   
     class Model;
   
     using Update = std::function<void(Phase::ConstSnapshotPtr snapshot)>;
     using PhaseFinished = std::function<void(Phase::ConstCompletedPtr)>;
     using TaskFinished = std::function<void()>;
   
     static rmf_task::Activator::Activate<Description> make_activator(
       Phase::ConstActivatorPtr phase_activator,
       std::function<rmf_traffic::Time()> clock);
   
     static void add(
       rmf_task::Activator& activator,
       Phase::ConstActivatorPtr phase_activator,
       std::function<rmf_traffic::Time()> clock);
   
     template<typename OtherDesc>
     static void unfold(
       std::function<Description(const OtherDesc&)> unfold_description,
       rmf_task::Activator& activator,
       Phase::ConstActivatorPtr phase_activator,
       std::function<rmf_traffic::Time()> clock);
   
   };
   
   //==============================================================================
   class Task::Builder
   {
   public:
   
     Builder();
   
     Builder& add_phase(
       Phase::ConstDescriptionPtr description,
       std::vector<Phase::ConstDescriptionPtr> cancellation_sequence);
   
     std::shared_ptr<Description> build(
       std::string category,
       std::string detail);
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   //==============================================================================
   class Task::Description : public rmf_task::Task::Description
   {
   public:
   
     // Documentation inherited
     Task::ConstModelPtr make_model(
       rmf_traffic::Time earliest_start_time,
       const Parameters& parameters) const final;
   
     // Documentation inherited
     Info generate_info(
       const State& initial_state,
       const Parameters& parameters) const final;
   
     const std::string& category() const;
   
     Description& category(std::string new_category);
   
     const std::string& detail() const;
   
     Description& detail(std::string new_detail);
   
     Header generate_header(
       const State& initial_state,
       const Parameters& parameters) const;
   
     class Implementation;
   private:
     Description();
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace rmf_task_sequence
   
   #include <rmf_task_sequence/detail/impl_Task.hpp>
   
   #endif // RMF_TASK_SEQUENCE__TASK_HPP