.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_include_rmf_task_TaskPlanner.hpp:

Program Listing for File TaskPlanner.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_include_rmf_task_TaskPlanner.hpp>` (``/tmp/ws/src/rmf_task/rmf_task/include/rmf_task/TaskPlanner.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__AGV__TASKPLANNER_HPP
   #define RMF_TASK__AGV__TASKPLANNER_HPP
   
   #include <rmf_task/Request.hpp>
   #include <rmf_task/RequestFactory.hpp>
   #include <rmf_task/CostCalculator.hpp>
   #include <rmf_task/Constraints.hpp>
   #include <rmf_task/Parameters.hpp>
   #include <rmf_task/State.hpp>
   
   #include <rmf_utils/impl_ptr.hpp>
   
   #include <vector>
   #include <memory>
   #include <functional>
   #include <variant>
   
   namespace rmf_task {
   
   //==============================================================================
   class TaskPlanner
   {
   public:
   
     class Configuration
     {
     public:
       Configuration(
         Parameters parameters,
         Constraints constraints,
         ConstCostCalculatorPtr cost_calculator);
   
       const Parameters& parameters() const;
   
       Configuration& parameters(Parameters parameters);
   
       const Constraints& constraints() const;
   
       Configuration& constraints(Constraints constraints);
   
       const ConstCostCalculatorPtr& cost_calculator() const;
   
       Configuration& cost_calculator(ConstCostCalculatorPtr cost_calculator);
   
       class Implementation;
   
     private:
       rmf_utils::impl_ptr<Implementation> _pimpl;
     };
   
     class Options
     {
     public:
   
       Options(
         bool greedy,
         std::function<bool()> interrupter = nullptr,
         ConstRequestFactoryPtr finishing_request = nullptr);
   
       Options& greedy(bool value);
   
       bool greedy() const;
   
       Options& interrupter(std::function<bool()> interrupter);
   
       const std::function<bool()>& interrupter() const;
   
       Options& finishing_request(ConstRequestFactoryPtr finishing_request);
   
       ConstRequestFactoryPtr finishing_request() const;
   
       class Implementation;
     private:
       rmf_utils::impl_ptr<Implementation> _pimpl;
     };
   
     class Assignment
     {
     public:
   
       Assignment(
         rmf_task::ConstRequestPtr request,
         State finish_state,
         rmf_traffic::Time deployment_time);
   
       // Get the request of this task
       const rmf_task::ConstRequestPtr& request() const;
   
       // Get a const reference to the predicted state at the end of the assignment
       const State& finish_state() const;
   
       // Get the time when the robot begins executing
       // this assignment
       const rmf_traffic::Time deployment_time() const;
   
       class Implementation;
   
     private:
       rmf_utils::impl_ptr<Implementation> _pimpl;
     };
   
     enum class TaskPlannerError
     {
       low_battery,
   
       limited_capacity
     };
   
     using Assignments = std::vector<std::vector<Assignment>>;
     using Result = std::variant<Assignments, TaskPlannerError>;
   
     TaskPlanner(
       Configuration configuration,
       Options default_options);
   
     TaskPlanner(
       const std::string& planner_id,
       Configuration configuration,
       Options default_options);
   
     const Configuration& configuration() const;
   
     const Options& default_options() const;
   
     Options& default_options();
   
     Result plan(
       rmf_traffic::Time time_now,
       std::vector<State> agents,
       std::vector<ConstRequestPtr> requests);
   
     Result plan(
       rmf_traffic::Time time_now,
       std::vector<State> agents,
       std::vector<ConstRequestPtr> requests,
       Options options);
   
     double compute_cost(const Assignments& assignments) const;
   
     class Implementation;
   
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   
   };
   
   } // namespace rmf_task
   
   #endif // RMF_TASK__AGV__TASKPLANNER_HPP