Class Activity::SequenceModel

Nested Relationships

This class is a nested type of Class Activity.

Inheritance Relationships

Base Type

Class Documentation

class SequenceModel : public rmf_task_sequence::Activity::Model

Public Functions

virtual std::optional<rmf_task::Estimate> estimate_finish(State initial_state, rmf_traffic::Time earliest_arrival_time, const Constraints &constraints, const TravelEstimator &travel_estimator) const final

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 final

Estimate the invariant component of the request’s duration.

virtual State invariant_finish_state() const final

Get the components of the finish state that this phase is guaranteed to result in once the phase is finished.

Public Static Functions

static ConstModelPtr make(const std::vector<ConstDescriptionPtr> &descriptions, State invariant_initial_state, const Parameters &parameters)

Make a SequenceModel by providing a vector of descriptions and the arguments that are given to Phase::Description::make_model(~).

Parameters:

  • descriptions – [in] The Phase descriptions that are being modeled. The ordering of the descriptions may impact model outcomes. The order of the descriptions in the vector should reflect the actual order that the phases would occur in.

  • invariant_initial_state – [in] A partial state that represents the state components which will definitely be true when this phase begins.

  • parameters – [in] The parameters for the robot

Returns:

A Phase::Model implemented as a SequenceModel.