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

void set_indefinite(bool value)

Set the charging task to run indefinitely. This means it will never declare itself as finished and must instead be canceled. This can be used for idle tasks that are canceled automatically when a task request comes in. If indefinite is false, the robot will charge up to its designated recharge level.

bool indefinite() const

Should this recharge task run indefinitely?

Public Static Functions

static Task::ConstDescriptionPtr make()

Generate the description for this request.

static std::shared_ptr<Description> make_indefinite()

Make a charging task that will last indefinitely.