Class Activity::Model

Nested Relationships

This class is a nested type of Class Activity.

Inheritance Relationships

Derived Type

Class Documentation

class Model

Subclassed by rmf_task_sequence::Activity::SequenceModel

Public Functions

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.

virtual rmf_traffic::Duration invariant_duration() const = 0

Estimate the invariant component of the request’s duration.

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.

virtual ~Model() = default