Class ChargeBattery

Nested Relationships

Nested Types

Class Documentation

class ChargeBattery

A class that generates a Request which requires an AGV to return to its desginated charging_waypoint as specified in its agv::State and wait till its battery charges up to the recharge_soc confugred in agv::Constraints

Public Static Functions

static ConstRequestPtr make(rmf_traffic::Time earliest_start_time, ConstPriorityPtr priority = nullptr, bool automatic = true)

Generate a chargebattery request

Parameters:

  • earliest_start_time – [in] The desired start time for this request

  • priority – [in] The priority for this request

  • automatic – [in] True if this request is auto-generated

static ConstRequestPtr make(rmf_traffic::Time earliest_start_time, const std::string &requester, rmf_traffic::Time request_time, ConstPriorityPtr priority = nullptr, bool automatic = true)

Generate a chargebattery request.

Parameters:

  • earliest_start_time – [in] The desired start time for this request.

  • requester – [in] The entity that issued this request.

  • request_time – [in] The time this request was generated or submitted.

  • priority – [in] The priority for this request.

  • automatic – [in] True if this request is auto-generated, default value as true.

class Description : public rmf_task::Task::Description

Public Functions

virtual Task::ConstModelPtr make_model(rmf_traffic::Time earliest_start_time, const Parameters &parameters) const final

Generate a Model for the task based on the unique traits of this description

Parameters:

  • earliest_start_time – [in] The earliest time this task should begin execution. This is usually the requested start time for the task.

  • parameters – [in] The parameters that describe this AGV

virtual Info generate_info(const State &initial_state, const Parameters &parameters) const final

Generate a plain text info description for the task, given the predicted initial state and the task planning parameters.

Parameters:

  • initial_state – [in] The predicted initial state for the task

  • parameters – [in] The task planning parameters

Public Static Functions

static Task::ConstDescriptionPtr make()

Generate the description for this request.