Class WaitFor
Defined in File WaitFor.hpp
Nested Relationships
Nested Types
Class Documentation
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class WaitFor
A WaitFor event encompasses having the robot sit in place and wait for a period of time to pass.
The Model of this event may be useful for calculating the Models of other phases that include a period of time where the robot is waiting for a process to finish. E.g. the PickUp and DropOff Models use WaitFor::Model to calculate how much the robot’s battery drains while waiting for the payload to be transferred.
Public Types
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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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Description(rmf_traffic::Duration duration_)
Constructor.
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rmf_traffic::Duration duration() const
Get the duration of the wait.
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Description &duration(rmf_traffic::Duration new_duration)
Set the duration of the wait.
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virtual Activity::ConstModelPtr make_model(rmf_task::State invariant_initial_state, const rmf_task::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 rmf_task::Header generate_header(const rmf_task::State &initial_state, const rmf_task::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(rmf_traffic::Duration wait_duration)
Make a WaitFor phase description
- Parameters:
wait_duration – [in] The duration of time that the phase should be waiting.
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Description(rmf_traffic::Duration duration_)
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using DescriptionPtr = std::shared_ptr<Description>