.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_agv_CentralizedNegotiation.hpp:

Program Listing for File CentralizedNegotiation.hpp
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_agv_CentralizedNegotiation.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/agv/CentralizedNegotiation.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2022 Open Source Robotics Foundation
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
   */
   
   #ifndef RMF_TRAFFIC__AGV__CENTRALIZEDNEGOTIATION_HPP
   #define RMF_TRAFFIC__AGV__CENTRALIZEDNEGOTIATION_HPP
   
   #include <rmf_traffic/agv/Planner.hpp>
   #include <rmf_traffic/agv/SimpleNegotiator.hpp>
   
   namespace rmf_traffic {
   namespace agv {
   
   //==============================================================================
   class CentralizedNegotiation
   {
   public:
   
     class Agent
     {
     public:
   
       Agent(
         schedule::ParticipantId id,
         Plan::Start start,
         Plan::Goal goal,
         std::shared_ptr<const Planner> planner,
         std::optional<SimpleNegotiator::Options> options = std::nullopt);
   
       Agent(
         schedule::ParticipantId id,
         std::vector<Plan::Start> starts,
         Plan::Goal goal,
         std::shared_ptr<const Planner> planner,
         std::optional<SimpleNegotiator::Options> options = std::nullopt);
   
       schedule::ParticipantId id() const;
   
       Agent& id(schedule::ParticipantId value);
   
       const std::vector<Plan::Start>& starts() const;
   
       Agent& starts(std::vector<Plan::Start> values);
   
       const Plan::Goal& goal() const;
   
       Agent& goal(Plan::Goal value);
   
       const std::shared_ptr<const Planner>& planner() const;
   
       Agent& planner(std::shared_ptr<const Planner> value);
   
       const std::optional<SimpleNegotiator::Options>& options() const;
   
       Agent& options(std::optional<SimpleNegotiator::Options> value);
   
       class Implementation;
     private:
       rmf_utils::impl_ptr<Implementation> _pimpl;
     };
   
     using Proposal = std::unordered_map<schedule::ParticipantId, Plan>;
   
     class Result
     {
     public:
   
       const std::optional<Proposal>& proposal() const;
   
       const std::unordered_set<schedule::ParticipantId>& blockers() const;
   
       const std::vector<std::string>& log() const;
   
       class Implementation;
     private:
       rmf_utils::impl_ptr<Implementation> _pimpl;
     };
   
     CentralizedNegotiation(std::shared_ptr<const schedule::Viewer> viewer);
   
     const std::shared_ptr<const schedule::Viewer>& viewer() const;
   
     CentralizedNegotiation& viewer(std::shared_ptr<const schedule::Viewer> v);
   
     CentralizedNegotiation& optimal(bool on = true);
   
     CentralizedNegotiation& log(bool on = true);
   
     CentralizedNegotiation& print(bool on = true);
   
     Result solve(const std::vector<Agent>& agents) const;
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace agv
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__AGV__CENTRALIZEDNEGOTIATION_HPP