.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_include_rmf_task_Estimate.hpp:

Program Listing for File Estimate.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_include_rmf_task_Estimate.hpp>` (``/tmp/ws/src/rmf_task/rmf_task/include/rmf_task/Estimate.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__ESTIMATE_HPP
   #define RMF_TASK__ESTIMATE_HPP
   
   #include <optional>
   #include <utility>
   
   #include <rmf_task/State.hpp>
   #include <rmf_task/Parameters.hpp>
   #include <rmf_traffic/Time.hpp>
   #include <rmf_traffic/agv/Planner.hpp>
   #include <rmf_utils/impl_ptr.hpp>
   
   namespace rmf_task {
   
   //==============================================================================
   class Estimate
   {
   public:
   
     Estimate(State finish_state, rmf_traffic::Time wait_until);
   
     State finish_state() const;
   
     Estimate& finish_state(State new_finish_state);
   
     rmf_traffic::Time wait_until() const;
   
     Estimate& wait_until(rmf_traffic::Time new_wait_until);
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   //==============================================================================
   class TravelEstimator
   {
   public:
   
     TravelEstimator(const Parameters& parameters);
   
     class Result
     {
     public:
   
       rmf_traffic::Duration duration() const;
   
       double change_in_charge() const;
   
       class Implementation;
     private:
       Result();
       rmf_utils::impl_ptr<Implementation> _pimpl;
     };
   
     std::optional<Result> estimate(
       const rmf_traffic::agv::Plan::Start& start,
       const rmf_traffic::agv::Plan::Goal& goal) const;
   
     class Implementation;
   private:
     rmf_utils::unique_impl_ptr<Implementation> _pimpl;
   };
   
   //==============================================================================
   using ConstTravelEstimatorPtr = std::shared_ptr<const TravelEstimator>;
   
   } // namespace rmf_task
   
   #endif // RMF_TASK__ESTIMATE_HPP