Program Listing for File Patch.hpp
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/*
* Copyright (C) 2020 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__SCHEDULE__PATCH_HPP
#define RMF_TRAFFIC__SCHEDULE__PATCH_HPP
#include <rmf_traffic/schedule/Change.hpp>
#include <rmf_traffic/detail/bidirectional_iterator.hpp>
#include <rmf_utils/optional.hpp>
namespace rmf_traffic {
namespace schedule {
//==============================================================================
class Patch
{
public:
template<typename E, typename I, typename F>
using base_iterator = rmf_traffic::detail::bidirectional_iterator<E, I, F>;
class Participant
{
public:
Participant(
ParticipantId id,
ItineraryVersion itinerary_version,
Change::Erase erasures,
std::vector<Change::Delay> delays,
Change::Add additions,
std::optional<Change::Progress> progress);
ParticipantId participant_id() const;
ItineraryVersion itinerary_version() const;
const Change::Erase& erasures() const;
//
// TODO(MXG): Why don't we sum these delays into one value since they all
// get applied at the same time anyway? They were originally split because
// we used to allow delays to be applied to partial trajectories, but that
// is no longer allowed.
const std::vector<Change::Delay>& delays() const;
const Change::Add& additions() const;
const std::optional<Change::Progress>& progress() const;
class Implementation;
private:
rmf_utils::impl_ptr<Implementation> _pimpl;
};
class IterImpl;
using const_iterator = base_iterator<const Participant, IterImpl, Patch>;
Patch(
std::vector<Participant> changes,
rmf_utils::optional<Change::Cull> cull,
std::optional<Version> base_version,
Version latest_version);
const_iterator begin() const;
const_iterator end() const;
std::size_t size() const;
const Change::Cull* cull() const;
std::optional<Version> base_version() const;
Version latest_version() const;
class Implementation;
private:
rmf_utils::impl_ptr<Implementation> _pimpl;
};
} // namespace schedule
namespace detail {
extern template class bidirectional_iterator<
const schedule::Patch::Participant,
schedule::Patch::IterImpl,
schedule::Patch
>;
}
} // namespace rmf_traffic
#endif // RMF_TRAFFIC__SCHEDULE__PATCH_HPP