.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_events_PerformAction.hpp:

Program Listing for File PerformAction.hpp
==========================================

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

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

.. code-block:: cpp

   /*
    * Copyright (C) 2022 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__EVENTS__PERFORMACTION_HPP
   #define RMF_TASK_SEQUENCE__EVENTS__PERFORMACTION_HPP
   
   #include <rmf_traffic/agv/Planner.hpp>
   
   #include <rmf_task_sequence/Event.hpp>
   
   #include <nlohmann/json.hpp>
   
   namespace rmf_task_sequence {
   namespace events {
   
   //==============================================================================
   class PerformAction
   {
   public:
     using Location = rmf_traffic::agv::Plan::Goal;
   
     class Description;
     using DescriptionPtr = std::shared_ptr<Description>;
     using ConstDescriptionPtr = std::shared_ptr<const Description>;
   
     class Model;
   };
   
   //==============================================================================
   class PerformAction::Description : public Event::Description
   {
   public:
   
     static DescriptionPtr make(
       const std::string& category,
       nlohmann::json description,
       rmf_traffic::Duration action_duration_estimate,
       bool use_tool_sink,
       std::optional<Location> expected_finish_location = std::nullopt);
   
     const std::string& category() const;
   
     Description& category(const std::string& new_category);
   
     const nlohmann::json& description() const;
   
     Description& description(const nlohmann::json& new_description);
   
     const rmf_traffic::Duration& action_duration_estimate() const;
   
     Description& action_duration_estimate(rmf_traffic::Duration new_duration);
   
     bool use_tool_sink() const;
   
     Description& use_tool_sink(bool use_tool);
   
     std::optional<Location> expected_finish_location() const;
   
     Description& expected_finish_location(std::optional<Location> new_location);
   
     // Documentation inherited
     Activity::ConstModelPtr make_model(
       State invariant_initial_state,
       const Parameters& parameters) const final;
   
     // Documentation inherited
     Header generate_header(
       const rmf_task::State& initial_state,
       const Parameters& parameters) const final;
   
     class Implementation;
   private:
     Description();
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace events
   } // namespace rmf_task_sequence
   
   #endif // RMF_TASK_SEQUENCE__EVENTS__PERFORMACTION_HPP