Class PickUp

Nested Relationships

Nested Types

Class Documentation

class PickUp

A PickUp phase encompasses going to a location and transferring a payload into/onto the robot.

Public Types

using Location = rmf_traffic::agv::Plan::Goal
using DescriptionPtr = std::shared_ptr<Description>
class Description : public rmf_task_sequence::Activity::Description

Public Functions

const Location &pickup_location() const

Get the pickup location.

Description &pickup_location(Location new_location)

Change the pickup location.

const std::string &from_dispenser() const

Get the dispenser to pick up from.

Description &from_dispenser(std::string new_dispenser)

Change the dispenser to pick up from.

const Payload &payload() const

Get the payload to pick up.

Description &payload(Payload new_payload)

Change the payload to pick up.

rmf_traffic::Duration loading_duration_estimate() const

Get the loading duration estimate.

Description &loading_duration_estimate(rmf_traffic::Duration new_duration)

Change the loading duration estimate.

virtual Activity::ConstModelPtr make_model(State invariant_initial_state, const Parameters &parameters) 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.

virtual Header generate_header(const State &initial_state, const Parameters &parameters) 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

static DescriptionPtr make(Location pickup_location, std::string from_dispenser, Payload payload, rmf_traffic::Duration loading_duration_estimate)

Make a PickUp phase description

Parameters:

  • pickup_location – [in] The location that the robot needs to get to for the pickup

  • from_dispenser – [in] The dispenser that will take care of loading the items. We will communicate with this dispenser to verify the success of loading the items.

  • payload – [in] A description of what should be loaded into the robot during the pick-up

  • loading_duration_estimate – [in] An estimate for how long it will likely take to load the items.