Class Parameters

Class Documentation

class Parameters

A class that containts parameters that are common among the agents/AGVs available for performing requests

Public Functions

Parameters(std::shared_ptr<const rmf_traffic::agv::Planner> planner, rmf_battery::agv::BatterySystem battery_system, rmf_battery::ConstMotionPowerSinkPtr motion_sink, rmf_battery::ConstDevicePowerSinkPtr ambient_sink, rmf_battery::ConstDevicePowerSinkPtr tool_sink = nullptr)

Constructor

Parameters:

  • battery_system – [in] The battery system of the agent

  • motion_sink – [in] The motion sink of the agent. This describes how power gets drained while the agent is moving.

  • ambient_sink – [in] The ambient device sink of the agent. This describes how power gets drained at all times from passive use of the agent’s electronics.

  • planner – [in] The planner for a agent in this fleet

  • tool_sink – [in] An additional device sink of the agent. This describes how power gets drained when a tool/device is active.

const std::shared_ptr<const rmf_traffic::agv::Planner> &planner() const

Get the planner.

Parameters &planner(std::shared_ptr<const rmf_traffic::agv::Planner> planner)

Set the planner.

const rmf_battery::agv::BatterySystem &battery_system() const

Get the battery system.

Parameters &battery_system(rmf_battery::agv::BatterySystem battery_system)

Set the battery_system.

const rmf_battery::ConstMotionPowerSinkPtr &motion_sink() const

Get the motion sink.

Parameters &motion_sink(rmf_battery::ConstMotionPowerSinkPtr motion_sink)

Set the motion_sink.

const rmf_battery::ConstDevicePowerSinkPtr &ambient_sink() const

Get the ambient device sink.

Parameters &ambient_sink(rmf_battery::ConstDevicePowerSinkPtr ambient_sink)

Set the ambient device sink.

const rmf_battery::ConstDevicePowerSinkPtr &tool_sink() const

Get the tool device sink.

Parameters &tool_sink(rmf_battery::ConstDevicePowerSinkPtr tool_sink)

Set the tool device sink.