Class Activity::Model
Defined in File Activity.hpp
Nested Relationships
This class is a nested type of Class Activity.
Inheritance Relationships
Derived Type
public rmf_task_sequence::Activity::SequenceModel
(Class Activity::SequenceModel)
Class Documentation
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class Model
Subclassed by rmf_task_sequence::Activity::SequenceModel
Public Functions
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virtual std::optional<Estimate> estimate_finish(State initial_state, rmf_traffic::Time earliest_arrival_time, const Constraints &constraints, const TravelEstimator &travel_estimator) const = 0
Estimate the state that the robot will have when the phase is finished.
- Parameters:
initial_state – [in] The expected initial state when the phase begins
constraints – [in] Constraints on the robot during the phase
- Param :
- Returns:
an estimated state for the robot when the phase is finished.
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virtual rmf_traffic::Duration invariant_duration() const = 0
Estimate the invariant component of the request’s duration.
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virtual State invariant_finish_state() const = 0
Get the components of the finish state that this phase is guaranteed to result in once the phase is finished.
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virtual ~Model() = default
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virtual std::optional<Estimate> estimate_finish(State initial_state, rmf_traffic::Time earliest_arrival_time, const Constraints &constraints, const TravelEstimator &travel_estimator) const = 0