Program Listing for File Estimate.hpp
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/*
* 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