.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_agv_VehicleTraits.hpp:

Program Listing for File VehicleTraits.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_agv_VehicleTraits.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/agv/VehicleTraits.hpp``)

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

.. code-block:: cpp

   /*
    * Copyright (C) 2019 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__VEHICLETRAITS_HPP
   #define RMF_TRAFFIC__AGV__VEHICLETRAITS_HPP
   
   #include <rmf_traffic/Profile.hpp>
   #include <rmf_traffic/Trajectory.hpp>
   
   namespace rmf_traffic {
   namespace agv {
   
   //==============================================================================
   class VehicleTraits
   {
   public:
   
     class Limits
     {
     public:
   
       Limits(
         double velocity = 0.0,
         double acceleration = 0.0);
   
       Limits& set_nominal_velocity(double nom_vel);
       double get_nominal_velocity() const;
   
       Limits& set_nominal_acceleration(double nom_accel);
       double get_nominal_acceleration() const;
   
       bool valid() const;
   
       class Implementation;
     private:
       rmf_utils::impl_ptr<Implementation> _pimpl;
     };
   
     enum class Steering : uint16_t
     {
       Differential,
   
       Holonomic,
     };
   
     class Differential
     {
     public:
   
       Differential(
         Eigen::Vector2d forward = Eigen::Vector2d::UnitX(),
         bool reversible = true);
   
       Differential& set_forward(Eigen::Vector2d forward);
   
       const Eigen::Vector2d& get_forward() const;
   
       Differential& set_reversible(bool reversible);
       bool is_reversible() const;
   
       bool valid() const;
   
       class Implementation;
     private:
       rmf_utils::impl_ptr<Implementation> _pimpl;
     };
   
     class Holonomic
     {
     public:
   
       Holonomic();
   
       class Implementation;
     private:
       rmf_utils::impl_ptr<Implementation> _pimpl;
     };
   
     VehicleTraits(
       Limits linear,
       Limits angular,
       Profile profile,
       Differential steering = Differential());
   
     Limits& linear();
     const Limits& linear() const;
   
     Limits& rotational();
     const Limits& rotational() const;
   
     Profile& profile();
     const Profile& profile() const;
   
     Steering get_steering() const;
   
     Differential& set_differential(Differential parameters = Differential());
   
     Differential* get_differential();
   
     const Differential* get_differential() const;
   
     Holonomic& set_holonomic(Holonomic parameters);
   
     Holonomic* get_holonomic();
   
     const Holonomic* get_holonomic() const;
   
     bool valid() const;
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   
   };
   
   } // namespace agv
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__AGV__VEHICLETRAITS_HPP