Class PerformAction
Defined in File PerformAction.hpp
Nested Relationships
Nested Types
Class Documentation
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class PerformAction
Public Types
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using Location = rmf_traffic::agv::Plan::Goal
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using DescriptionPtr = std::shared_ptr<Description>
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using ConstDescriptionPtr = std::shared_ptr<const Description>
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class Description : public rmf_task_sequence::Activity::Description
Public Functions
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const std::string &category() const
Get the category.
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Description &category(const std::string &new_category)
Set the category.
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const nlohmann::json &description() const
Get the description.
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Description &description(const nlohmann::json &new_description)
Set the description.
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const rmf_traffic::Duration &action_duration_estimate() const
Get the action duration estimate.
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Description &action_duration_estimate(rmf_traffic::Duration new_duration)
Set the action duration estimate.
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bool use_tool_sink() const
Check whether to account for battery drain from tools.
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Description &use_tool_sink(bool use_tool)
Set whether to account for battery drain from tools.
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Description &expected_finish_location(std::optional<Location> new_location)
Set the expected finish location.
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virtual Activity::ConstModelPtr make_model(State invariant_initial_state, const Parameters ¶meters) const final
Generate a Model for this Activity based on its description, parameters, and the invariants of its initial state.
- Parameters:
invariant_initial_state – [in] A partial state that represents the state components which will definitely be true when this Activity begins.
parameters – [in] The parameters for the robot.
- Returns:
a model based on the given start state and parameters.
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virtual Header generate_header(const rmf_task::State &initial_state, const Parameters ¶meters) const final
Generate human-friendly header information for this Activity.
- Parameters:
initial_state – [in] The expected initial state when the activity begins
parameters – [in] Parameters of the robot during the Activity
Public Static Functions
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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)
Make a PerformAction description.
- Parameters:
category – [in] A category for this action
description – [in] A json description of the action to perform
action_duration_estimate – [in] An estimate for how long it will take for the action to complete
use_tool_sink – [in] If true, battery drain from peripheral tools will be accounted for while performing the action
expected_finish_location – [in] An optional location to indicate where the robot will end up after performing the action. Use nullopt to indicate that after performing the action, the robot will be at its initial location.
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const std::string &category() const
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using Location = rmf_traffic::agv::Plan::Goal