rmf_task¶

using Activate = std::function<Task::ActivePtr(const std::function<State()> &get_stateconst ConstParametersPtr &parameters, const Task::ConstBookingPtr &booking, const Description &description, std::optional<std::string> backup_state, std::function<void(Phase::ConstSnapshotPtr)> update, std::function<void(Task::Active::Backup)> checkpoint, std::function<void(Phase::ConstCompletedPtr)> phase_finished, std::function<void()> task_finished)>¶

Signature for activating a task

Return

an active, running instance of the requested task.

Template Parameters

Description: A class that implements the Task::Description interface

Parameters

[in] get_state: A callback for retrieving the current state of the robot
[in] parameters: A reference to the parameters for the robot
[in] booking: An immutable reference to the booking information for the task
[in] description: The down-casted description of the task
[in] backup_state: The serialized backup state of the Task, if the Task is being restored from a crash or disconnection. If the Task is not being restored, a std::nullopt will be passed in here.
[in] update: A callback that will be triggered when the task has a significant update in its status.
[in] checkpoint: A callback that will be triggered when the task has reached a task checkpoint whose state is worth backing up.
[in] finished: A callback that will be triggered when the task has finished.

Public Functions

Activator()¶: Construct an empty TaskFactory.

template<typename Description> void add_activator(Activate<Description> activator)¶

Add a callback to convert from a Description into an active Task.

Template Parameters

Description: A class that implements the Request::Description interface

Parameters

[in] activator: A callback that activates a Task matching the Description

Task::ActivePtr activate(const std::function<State()> &get_stateconst ConstParametersPtr &parameters, const Request &request, std::function<void(Phase::ConstSnapshotPtr)> update, std::function<void(Task::Active::Backup)> checkpoint, std::function<void(Phase::ConstCompletedPtr)> phase_finished, std::function<void()> task_finished) const¶

Activate a Task object based on a Request.

Return

an active, running instance of the requested task.

Parameters

[in] get_state: A callback for retrieving the current state of the robot
[in] parameters: A reference to the parameters for the robot
[in] request: The task request
[in] update: A callback that will be triggered when the task has a significant update
[in] checkpoint: A callback that will be triggered when the task has reached a task checkpoint whose state is worth backing up.
[in] phase_finished: A callback that will be triggered whenever a task phase is finished
[in] task_finished: A callback that will be triggered when the task has finished

Task::ActivePtr restore(const std::function<State()> &get_stateconst ConstParametersPtr &parameters, const Request &request, std::string backup_state, std::function<void(Phase::ConstSnapshotPtr)> update, std::function<void(Task::Active::Backup)> checkpoint, std::function<void(Phase::ConstCompletedPtr)> phase_finished, std::function<void()> task_finished) const¶

Restore a Task that crashed or disconnected.

Return

an active, running instance of the requested task.

Parameters

[in] get_state: A callback for retrieving the current state of the robot
[in] parameters: A reference to the parameters for the robot
[in] request: The task request
[in] backup_state: The serialized backup state of the Task
[in] update: A callback that will be triggered when the task has a significant update
[in] checkpoint: A callback that will be triggered when the task has reached a task checkpoint whose state is worth backing up.
[in] phase_finished: A callback that will be triggered whenever a task phase is finished
[in] task_finished: A callback that will be triggered when the task has finished

Class BackupFileManager¶

Defined in File BackupFileManager.hpp

Nested Relationships¶

Nested Types¶

Class Documentation¶

class rmf_task::BackupFileManager¶

Public Functions

BackupFileManager(std::filesystem::path root_directory, std::function<void(std::string)> info_logger = nullptr, std::function<void(std::string)> debug_logger = nullptr)¶

Construct a BackupFileManager

Parameters

[in] root_directory: Specify the root directory that the backup files should live in

BackupFileManager &clear_on_startup(bool value = true)¶

Set whether any previously existing backups should be cleared out on startup. By default this behavior is turned OFF.

Parameters

[in] value: True if the behavior should be turned on; false if it should be turned off.

BackupFileManager &clear_on_shutdown(bool value = true)¶

Set whether any currently existing backups should be cleared out on shutdown. By default this behavior is turned ON.

Parameters

[in] value: True if the behavior should be turned on; false if it should be turned off.

std::shared_ptr<Group> make_group(std::string name)¶: Make a group (a.k.a. fleet) to back up.

class Group¶

Public Functions

std::shared_ptr<Robot> make_robot(std::string name)¶

Make a handle to backup a robot for this group

Parameters

[in] name: The unique name of the robot that’s being backed up

class Robot¶

Public Functions

std::optional<std::string> read() const¶: Read a backup state from file if a backup file exists for this robot. If a backup does not exist, return a nullopt.

void write(const Task::Active::Backup &backup)¶: Write a backup to file.

Class BackupFileManager::Group¶

Defined in File BackupFileManager.hpp

Nested Relationships¶

This class is a nested type of Class BackupFileManager.

Class Documentation¶

class rmf_task::BackupFileManager::Group

Public Functions

std::shared_ptr<Robot> make_robot(std::string name)

Make a handle to backup a robot for this group

Parameters

[in] name: The unique name of the robot that’s being backed up

Class BackupFileManager::Robot¶

Defined in File BackupFileManager.hpp

Nested Relationships¶

This class is a nested type of Class BackupFileManager.

Class Documentation¶

class rmf_task::BackupFileManager::Robot

Public Functions

std::optional<std::string> read() const: Read a backup state from file if a backup file exists for this robot. If a backup does not exist, return a nullopt.

void write(const Task::Active::Backup &backup): Write a backup to file.

Class BinaryPriorityScheme¶

Defined in File BinaryPriorityScheme.hpp

Class Documentation¶

class rmf_task::BinaryPriorityScheme¶

A class that serves as a binary prioritization scheme by genrating either high or low Priority objects for requests.

Public Static Functions

static std::shared_ptr<Priority> make_low_priority()¶: Use these to assign the task priority In the current implementation this returns a nullptr.

static std::shared_ptr<Priority> make_high_priority()¶: Get a shared pointer to a high priority object of the binary prioritization scheme.

static std::shared_ptr<CostCalculator> make_cost_calculator()¶: Use this to give the appropriate cost calculator to the task planner.

Class CompositeData¶

Defined in File CompositeData.hpp

Nested Relationships¶

Nested Types¶

Template Struct CompositeData::InsertResult

Inheritance Relationships¶

Derived Type¶

public rmf_task::State (Class State)

Class Documentation¶

class rmf_task::CompositeData¶

A class that can store and return arbitrary data structures, as long as they are copyable.

Subclassed by rmf_task::State

Public Functions

CompositeData()¶: Create an empty CompositeData.

template<typename T> InsertResult<T> insert(T &&value)¶

Attempt to insert some data structure into the CompositeData. If a data structure of type T already exists in the CompositeData, then this function will have no effect, and InsertResult<T>::value will point to the value that already existed in the CompositeData.

Parameters

[in] value: The value to attempt to insert.

template<typename T> InsertResult<T> insert_or_assign(T &&value)¶

Insert or assign some data structure into the CompositeData. If a data structure of type T already exists in the CompositeData, then this function will overwrite it with the new value.

Parameters

[in] value: The value to insert or assign.

template<typename T> CompositeData &with(T &&value)¶: Same as insert_or_assign, but *this is returned instead of the new value.

template<typename T> T *get()¶: Get a reference to a data structure of type T if one is available in the CompositeData. If one is not available, this will return a nullptr.

template<typename T> const T *get() const¶: Get a reference to an immutable data structure of type T if one is available in the CompositeData. If one is not available, this will return a nullptr.

template<typename T> bool erase()¶: Erase the data structure of type T if one is available in the CompositeData. This will return true if it was erased, or false if type T was not available.

void clear()¶: Remove all data structures from this CompositeData.

template<typename T> auto insert(T &&value) -> InsertResult<T>

template<typename T> auto insert_or_assign(T &&value) -> InsertResult<T>

template<typename T> struct InsertResult¶

The result of performing an insertion operation.

Public Members

bool inserted¶: True if the value was inserted. This means that an entry of value T did not already exist before you performed the insertion.

T *value¶: A reference to the value of type T that currently exists within the CompositeData.

Class Constraints¶

Defined in File Constraints.hpp

Class Documentation¶

class rmf_task::Constraints¶

A class that describes constraints that are common among the agents/AGVs available for performing requests

Public Functions

Constraints(double threshold_soc, double recharge_soc = 1.0, bool drain_battery = true)¶

Constructor

Parameters

[in] threshold_soc: Minimum charge level the vehicle is allowed to deplete to. This value needs to be between 0.0 and 1.0.
[in] recharge_soc: The charge level the vehicle should be recharged to. This value needs to be between 0.0 and 1.0. Default value is 1.0.
[in] drain_battery: If true, battery drain will be considered during task allocation and ChargeBattery tasks will automatically be included if necessary.

double threshold_soc() const¶: Gets the vehicle’s state of charge threshold value.

Constraints &threshold_soc(double threshold_soc)¶: Sets the vehicle’s state of charge threshold value. This value needs to be between 0.0 and 1.0.

double recharge_soc() const¶: Gets the vehicle’s state of charge recharge value.

Constraints &recharge_soc(double recharge_soc)¶: Sets the vehicle’s recharge state of charge value. This value needs to be between 0.0 and 1.0.

bool drain_battery() const¶: Get the value of drain_battery.

Constraints &drain_battery(bool drain_battery)¶: Set the value of drain_battery.

Class Backup¶

Defined in File Backup.hpp

Class Documentation¶

class rmf_task::detail::Backup¶

Public Functions

uint64_t sequence() const¶: Get the sequence number for this backup.

Backup &sequence(uint64_t seq)¶: Set the sequence number for this backup.

const std::string &state() const¶: Get the serialized state for this backup.

Backup &state(std::string new_state)¶: Set the serialized state for this backup.

Public Static Functions

static Backup make(uint64_t seq, std::string state)¶

Make a Backup state

Parameters

[in] seq: Sequence number. The Backup from this phase with the highest sequence number will be held onto until a Backup with a higher sequence number is issued.
[in] state: A serialization of the phase’s state. This will be used by Activator when restoring a Task.

Class Resume¶

Defined in File Resume.hpp

Class Documentation¶

class rmf_task::detail::Resume¶

Public Functions

void operator()() const¶: Call this object to tell the Task to resume.

Public Static Functions

static Resume make(std::function<void()> callback)¶: Make a Resume object. The callback will be triggered when the user triggers the Resume.

Class Estimate¶

Defined in File Estimate.hpp

Class Documentation¶

class rmf_task::Estimate¶

A class to store the time that the AGV should wait till before executing the request and the state of the AGV after finishing the request. Note: The wait time is different from the earliest_start_time specified in the request definition. The wait time may be earlier to ensure that the AGV arrvies at the first location of the request by the earliest_start_time

Public Functions

Estimate(State finish_state, rmf_traffic::Time wait_until)¶

Constructor of an estimate of the request.

Parameters

[in] finish_state: Finish state of the robot once it completes the request.
[in] wait_until: The ideal time the robot starts executing this request.

State finish_state() const¶: Finish state of the robot once it completes the request.

Estimate &finish_state(State new_finish_state)¶: Sets a new finish state for the robot.

rmf_traffic::Time wait_until() const¶: The ideal time the robot starts executing this request.

Estimate &wait_until(rmf_traffic::Time new_wait_until)¶: Sets a new starting time for the robot to execute the request.

Class Event¶

Defined in File Event.hpp

Nested Relationships¶

Nested Types¶

Class Documentation¶

class rmf_task::Event¶

Public Types

enum Status¶

A simple computer-friendly indicator of the current status of this event. This enum may be used to automatically identify when an event requires special attention, e.g. logging a warning or alerting an operator.

Values:

enumerator Uninitialized¶: The event status has not been initialized. This is a sentinel value that should not generally be used.

enumerator Blocked¶: The event is underway but it has been blocked. The blockage may require manual intervention to fix.

enumerator Error¶: An error has occurred that the Task implementation does not know how to deal with. Manual intervention is needed to get the task back on track.

enumerator Failed¶: The event cannot ever finish correctly, even with manual intervention. This may mean that the Task cannot be completed if it does not have an automated way to recover from this failure state.

enumerator Standby¶: The event is on standby. It cannot be started yet, and that is its expected status.

enumerator Underway¶: The event is underway, and proceeding as expected.

enumerator Delayed¶: The event is underway but it has been temporarily delayed.

enumerator Skipped¶: An operator has instructed this event to be skipped.

enumerator Canceled¶: An operator has instructed this event to be canceled.

enumerator Killed¶: An operator has instructed this event to be killed.

enumerator Completed¶: The event has completed.

using ConstStatePtr = std::shared_ptr<const State>¶

using ConstSnapshotPtr = std::shared_ptr<const Snapshot>¶

using AssignIDPtr = std::shared_ptr<const AssignID>¶

Public Static Functions

static Status sequence_status(Status earlier, Status later)¶: Given the status of two events that are in sequence with each other, return the overall status of the sequence.

class AssignID¶

A utility class that helps to assign unique IDs to events.

Public Functions

AssignID()¶: Constructor.

uint64_t assign() const¶: Get a new unique ID.

Public Static Functions

static AssignIDPtr make()¶: Make a shared_ptr<AssignID>

class Snapshot : public rmf_task::Event::State ¶

A snapshot of the state of an event. This snapshot can be read while the original event is arbitrarily changed, and there is no risk of a race condition, as long as the snapshot is not being created while the event is changing.

Public Functions

virtual uint64_t id() const final¶: The ID of this event, which is unique within its phase.

virtual Status status() const final¶: The current Status of this event.

virtual VersionedString::View name() const final¶: The “name” of this event. Ideally a short, simple piece of text that helps a human being intuit what this event is expecting at a glance.

virtual VersionedString::View detail() const final¶: A detailed explanation of this event.

virtual Log::View log() const final¶: A view of the log for this event.

virtual std::vector<ConstStatePtr> dependencies() const final¶: Get more granular dependencies of this event, if any exist.

Public Static Functions

static ConstSnapshotPtr make(const State &other)¶: Make a snapshot of the current state of an Event.

class State¶

The interface to an active event.

Subclassed by rmf_task::Event::Snapshot, rmf_task::events::SimpleEventState

Public Types

using Status = Event::Status ¶

using ConstStatePtr = Event::ConstStatePtr ¶

Public Functions

virtual uint64_t id() const = 0¶: The ID of this event, which is unique within its phase.

virtual Status status() const = 0¶: The current Status of this event.

bool finished() const¶: A convenience function which returns true if the event’s status is any of Skipped, Canceled, Killed, or Completed.

virtual VersionedString::View name() const = 0¶: The “name” of this event. Ideally a short, simple piece of text that helps a human being intuit what this event is expecting at a glance.

virtual VersionedString::View detail() const = 0¶: A detailed explanation of this event.

virtual Log::View log() const = 0¶: A view of the log for this event.

virtual std::vector<ConstStatePtr> dependencies() const = 0¶: Get more granular dependencies of this event, if any exist.

virtual ~State() = default¶

Class Event::AssignID¶

Defined in File Event.hpp

Nested Relationships¶

This class is a nested type of Class Event.

Class Documentation¶

class rmf_task::Event::AssignID

A utility class that helps to assign unique IDs to events.

Public Functions

AssignID(): Constructor.

uint64_t assign() const: Get a new unique ID.

Public Static Functions

static AssignIDPtr make(): Make a shared_ptr<AssignID>

Class Event::Snapshot¶

Defined in File Event.hpp

Nested Relationships¶

This class is a nested type of Class Event.

Inheritance Relationships¶

Base Type¶

public rmf_task::Event::State (Class Event::State)

Class Documentation¶

class rmf_task::Event::Snapshot : public rmf_task::Event::State

A snapshot of the state of an event. This snapshot can be read while the original event is arbitrarily changed, and there is no risk of a race condition, as long as the snapshot is not being created while the event is changing.

Public Functions

virtual uint64_t id() const final: The ID of this event, which is unique within its phase.

virtual Status status() const final: The current Status of this event.

virtual VersionedString::View name() const final: The “name” of this event. Ideally a short, simple piece of text that helps a human being intuit what this event is expecting at a glance.

virtual VersionedString::View detail() const final: A detailed explanation of this event.

virtual Log::View log() const final: A view of the log for this event.

virtual std::vector<ConstStatePtr> dependencies() const final: Get more granular dependencies of this event, if any exist.

Public Static Functions

static ConstSnapshotPtr make(const State &other): Make a snapshot of the current state of an Event.

Class Event::State¶

Defined in File Event.hpp

Nested Relationships¶

This class is a nested type of Class Event.

Inheritance Relationships¶

Derived Types¶

public rmf_task::Event::Snapshot (Class Event::Snapshot)
public rmf_task::events::SimpleEventState (Class SimpleEventState)

Class Documentation¶

class rmf_task::Event::State

The interface to an active event.

Subclassed by rmf_task::Event::Snapshot, rmf_task::events::SimpleEventState

Public Types

using Status = Event::Status

using ConstStatePtr = Event::ConstStatePtr

Public Functions

virtual uint64_t id() const = 0: The ID of this event, which is unique within its phase.

virtual Status status() const = 0: The current Status of this event.

bool finished() const: A convenience function which returns true if the event’s status is any of Skipped, Canceled, Killed, or Completed.

virtual VersionedString::View name() const = 0: The “name” of this event. Ideally a short, simple piece of text that helps a human being intuit what this event is expecting at a glance.

virtual VersionedString::View detail() const = 0: A detailed explanation of this event.

virtual Log::View log() const = 0: A view of the log for this event.

virtual std::vector<ConstStatePtr> dependencies() const = 0: Get more granular dependencies of this event, if any exist.

virtual ~State() = default

Class SimpleEventState¶

Defined in File SimpleEventState.hpp

Inheritance Relationships¶

Base Type¶

public rmf_task::Event::State (Class Event::State)

Class Documentation¶

class rmf_task::events::SimpleEventState : public rmf_task::Event::State ¶

This class is the simplest possible implementation for directly managing the required fields of the Event interface.

This may be useful if you have a Phase implementation that takes care of the logic for tracking your event(s) but you still need an Event object to satisfy the Phase interface’s finish_event() function. Your Phase implementation can create an instance of this class and then manage its fields directly.

Public Functions

virtual uint64_t id() const final¶: The ID of this event, which is unique within its phase.

virtual Status status() const final¶: The current Status of this event.

SimpleEventState &update_status(Status new_status)¶: Update the status of this event.

virtual VersionedString::View name() const final¶: The “name” of this event. Ideally a short, simple piece of text that helps a human being intuit what this event is expecting at a glance.

SimpleEventState &update_name(std::string new_name)¶: Update the name of this event.

virtual VersionedString::View detail() const final¶: A detailed explanation of this event.

SimpleEventState &update_detail(std::string new_detail)¶: Update the detail of this event.

virtual Log::View log() const final¶: A view of the log for this event.

Log &update_log()¶: Update the log.

virtual std::vector<ConstStatePtr> dependencies() const final¶: Get more granular dependencies of this event, if any exist.

SimpleEventState &update_dependencies(std::vector<ConstStatePtr> new_dependencies)¶: Update the dependencies.

SimpleEventState &add_dependency(ConstStatePtr new_dependency)¶: Add one dependency to the state.

Public Static Functions

static std::shared_ptr<SimpleEventState> make(uint64_t id, std::string name, std::string detail, Status initial_status, std::vector<ConstStatePtr> dependencies = {}, std::function<rmf_traffic::Time()> clock = nullptr)¶

Class Header¶

Defined in File Header.hpp

Class Documentation¶

class rmf_task::Header¶

Public Functions

Header(std::string category_, std::string detail_, rmf_traffic::Duration estimate_)¶

Constructor

Parameters

[in] category_: Category of the subject
[in] detail_: Details about the subject
[in] estimate_: The original (ideal) estimate of how long the subject will last

const std::string &category() const¶: Category of the subject.

const std::string &detail() const¶: Details about the subject.

rmf_traffic::Duration original_duration_estimate() const¶: The original (ideal) estimate of how long the subject will last.

Class Log¶

Defined in File Log.hpp

Nested Relationships¶

Nested Types¶

Class Documentation¶

class rmf_task::Log¶

Public Types

enum Tier¶

A computer-friendly ranking of how serious the log entry is.

Values:

enumerator Uninitialized¶: This is a sentinel value that should not generally be used.

enumerator Info¶: An expected occurrence took place.

enumerator Warning¶: An unexpected, problematic occurrence took place, but it can be recovered from. Human attention is recommended but not necessary.

enumerator Error¶: A problem happened, and humans should be alerted.

Public Functions

Log(std::function<rmf_traffic::Time()> clock = nullptr)¶

Construct a log.

Parameters

[in] clock: Specify a clock for this log to use. If nullptr is given, then std::chrono::system_clock::now() will be used.

void info(std::string text)¶: Add an informational entry to the log.

void warn(std::string text)¶: Add a warning to the log.

void error(std::string text)¶: Add an error to the log.

void push(Tier tier, std::string text)¶: Push an entry of the specified severity.

void insert(Log::Entry entry)¶: Insert an arbitrary entry into the log.

View view() const¶: Get a View of the current state of this log. Any new entries that are added after calling this function will not be visible to the View that is returned.

class Entry¶

A single entry within the log.

Public Functions

Tier tier() const¶: What was the tier of this entry.

uint32_t seq() const¶: Sequence number for this log entry. This increments once for each new log entry, until overflowing and wrapping around to 0.

rmf_traffic::Time time() const¶: What was the timestamp of this entry.

const std::string &text() const¶: What was the text of this entry.

class Reader¶

A Reader that can iterate through the Views of Logs. The Reader will keep track of which Entries have already been viewed, so every Entry read by a single Reader instance is unique.

Public Functions

Reader()¶: Construct a Reader.

Iterable read(const View &view)¶

Create an object that can iterate through the entries of a View. Any entries that have been read by this Reader in the past will be skipped. This can be used in a range-based for loop, e.g.:

for (const auto& entry : reader.read(view))
{
  std::cout << entry.text() << std::endl;
}

class Iterable¶

Public Types

using const_iterator = iterator ¶

Public Functions

iterator begin() const¶: Get the beginning iterator of the read.

iterator end() const¶: Get the ending iterator of the read.

class iterator¶

Public Functions

const Entry &operator*() const¶: Dereference operator.

const Entry *operator->() const¶: Drill-down operator.

iterator &operator++()¶

Pre-increment operator: ++it

Note: This is more efficient than the post-increment operator.
Warning: It is undefined behavior to perform this operation on an iterator that is equal to Log::Reader::Iterable::end().
Return: a reference to the iterator itself

iterator operator++(int)¶

Post-increment operator: it++

Warning: It is undefined behavior to perform this operation on an iterator that is equal to Log::Reader::Iterable::end().
Return: a copy of the iterator before it was incremented.

bool operator==(const iterator &other) const¶: Equality comparison operator.

bool operator!=(const iterator &other) const¶: Inequality comparison operator.

class View¶: A snapshot view of the log’s contents. This is thread-safe to read even while new entries are being added to the log, but those new entries will not be seen by this View. You must retrieve a new View to see new entries.

Class Log::Entry¶

Defined in File Log.hpp

Nested Relationships¶

This class is a nested type of Class Log.

Class Documentation¶

class rmf_task::Log::Entry

A single entry within the log.

Public Functions

Tier tier() const: What was the tier of this entry.

uint32_t seq() const: Sequence number for this log entry. This increments once for each new log entry, until overflowing and wrapping around to 0.

rmf_traffic::Time time() const: What was the timestamp of this entry.

const std::string &text() const: What was the text of this entry.

Class Log::Reader¶

Defined in File Log.hpp

Nested Relationships¶

This class is a nested type of Class Log.

Nested Types¶

Class Documentation¶

class rmf_task::Log::Reader

A Reader that can iterate through the Views of Logs. The Reader will keep track of which Entries have already been viewed, so every Entry read by a single Reader instance is unique.

Public Functions

Reader(): Construct a Reader.

Iterable read(const View &view)

Create an object that can iterate through the entries of a View. Any entries that have been read by this Reader in the past will be skipped. This can be used in a range-based for loop, e.g.:

for (const auto& entry : reader.read(view))
{
  std::cout << entry.text() << std::endl;
}

class Iterable

Public Types

using const_iterator = iterator

Public Functions

iterator begin() const: Get the beginning iterator of the read.

iterator end() const: Get the ending iterator of the read.

class iterator

Public Functions

const Entry &operator*() const: Dereference operator.

const Entry *operator->() const: Drill-down operator.

iterator &operator++()

Pre-increment operator: ++it

Note: This is more efficient than the post-increment operator.
Warning: It is undefined behavior to perform this operation on an iterator that is equal to Log::Reader::Iterable::end().
Return: a reference to the iterator itself

iterator operator++(int)

Post-increment operator: it++

Warning: It is undefined behavior to perform this operation on an iterator that is equal to Log::Reader::Iterable::end().
Return: a copy of the iterator before it was incremented.

bool operator==(const iterator &other) const: Equality comparison operator.

bool operator!=(const iterator &other) const: Inequality comparison operator.

Class Reader::Iterable¶

Defined in File Log.hpp

Nested Relationships¶

This class is a nested type of Class Log::Reader.

Nested Types¶

Class Iterable::iterator

Class Documentation¶

class rmf_task::Log::Reader::Iterable

Public Types

using const_iterator = iterator

Public Functions

iterator begin() const: Get the beginning iterator of the read.

iterator end() const: Get the ending iterator of the read.

class iterator

Public Functions

const Entry &operator*() const: Dereference operator.

const Entry *operator->() const: Drill-down operator.

iterator &operator++()

Pre-increment operator: ++it

Note: This is more efficient than the post-increment operator.
Warning: It is undefined behavior to perform this operation on an iterator that is equal to Log::Reader::Iterable::end().
Return: a reference to the iterator itself

iterator operator++(int)

Post-increment operator: it++

Warning: It is undefined behavior to perform this operation on an iterator that is equal to Log::Reader::Iterable::end().
Return: a copy of the iterator before it was incremented.

bool operator==(const iterator &other) const: Equality comparison operator.

bool operator!=(const iterator &other) const: Inequality comparison operator.

Class Iterable::iterator¶

Defined in File Log.hpp

Nested Relationships¶

This class is a nested type of Class Reader::Iterable.

Class Documentation¶

class rmf_task::Log::Reader::Iterable::iterator

Public Functions

const Entry &operator*() const: Dereference operator.

const Entry *operator->() const: Drill-down operator.

iterator &operator++()

Pre-increment operator: ++it

Note: This is more efficient than the post-increment operator.
Warning: It is undefined behavior to perform this operation on an iterator that is equal to Log::Reader::Iterable::end().
Return: a reference to the iterator itself

iterator operator++(int)

Post-increment operator: it++

Warning: It is undefined behavior to perform this operation on an iterator that is equal to Log::Reader::Iterable::end().
Return: a copy of the iterator before it was incremented.

bool operator==(const iterator &other) const: Equality comparison operator.

bool operator!=(const iterator &other) const: Inequality comparison operator.

Class Log::View¶

Defined in File Log.hpp

Nested Relationships¶

This class is a nested type of Class Log.

Class Documentation¶

class View: A snapshot view of the log’s contents. This is thread-safe to read even while new entries are being added to the log, but those new entries will not be seen by this View. You must retrieve a new View to see new entries.

Class Parameters¶

Defined in File Parameters.hpp

Class Documentation¶

class rmf_task::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

[in] battery_system: The battery system of the agent
[in] motion_sink: The motion sink of the agent. This describes how power gets drained while the agent is moving.
[in] ambient_sink: The ambient device sink of the agent. This describes how power gets drained at all times from passive use of the agent’s electronics.
[in] planner: The planner for a agent in this fleet
[in] tool_sink: 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.

Class Payload¶

Defined in File Payload.hpp

Nested Relationships¶

Nested Types¶

Class Payload::Component

Class Documentation¶

class rmf_task::Payload¶

Public Functions

Payload(std::vector<Component> components)¶: Constructor.

const std::vector<Component> &components() const¶: Components in the payload.

std::string brief(const std::string &compartment_prefix = "in") const¶

A brief human-friendly description of the payload

Parameters

[in] compartment_prefix: The prefix to use when describing the compartments

class Component¶

Public Functions

Component(std::string sku, uint32_t quantity, std::string compartment)¶: Constructor.

const std::string &sku() const¶: Stock Keeping Unit (SKU) for this component of the payload.

uint32_t quantity() const¶: The quantity of the specified item in this component of the payload.

const std::string &compartment() const¶: The name of the compartment.

Class Payload::Component¶

Defined in File Payload.hpp

Nested Relationships¶

This class is a nested type of Class Payload.

Class Documentation¶

class rmf_task::Payload::Component

Public Functions

Component(std::string sku, uint32_t quantity, std::string compartment): Constructor.

const std::string &sku() const: Stock Keeping Unit (SKU) for this component of the payload.

uint32_t quantity() const: The quantity of the specified item in this component of the payload.

const std::string &compartment() const: The name of the compartment.

Class Phase¶

Defined in File Phase.hpp

Nested Relationships¶

Nested Types¶

Inheritance Relationships¶

Derived Type¶

public rmf_task::phases::RestoreBackup (Class RestoreBackup)

Class Documentation¶

class rmf_task::Phase¶

Subclassed by rmf_task::phases::RestoreBackup

Public Types

using ConstTagPtr = std::shared_ptr<const Tag>¶

using ConstCompletedPtr = std::shared_ptr<const Completed>¶

using ConstActivePtr = std::shared_ptr<const Active>¶

using ConstSnapshotPtr = std::shared_ptr<const Snapshot>¶

class Active¶

Subclassed by rmf_task::Phase::Snapshot, rmf_task::phases::RestoreBackup::Active

Public Functions

virtual ConstTagPtr tag() const = 0¶: Tag of the phase.

virtual Event::ConstStatePtr final_event() const = 0¶: The Event that needs to finish for this phase to be complete.

virtual rmf_traffic::Duration estimate_remaining_time() const = 0¶: The estimated finish time for this phase.

virtual ~Active() = default¶

class Completed¶

Information about a phase that has been completed.

Public Functions

Completed(ConstSnapshotPtr snapshot_, rmf_traffic::Time start_, rmf_traffic::Time finish_)¶: Constructor.

const ConstSnapshotPtr &snapshot() const¶: The final log of the phase.

rmf_traffic::Time start_time() const¶: The actual time that the phase started.

rmf_traffic::Time finish_time() const¶: The actual time that the phase finished.

class Pending¶

Public Functions

Pending(ConstTagPtr tag)¶: Constructor.

const ConstTagPtr &tag() const¶: Tag of the phase.

Pending &will_be_skipped(bool value)¶: Change whether this pending phase will be skipped.

bool will_be_skipped() const¶: Check if this phase is set to be skipped.

class Snapshot : public rmf_task::Phase::Active ¶

Public Functions

virtual ConstTagPtr tag() const final¶: Tag of the phase.

virtual Event::ConstStatePtr final_event() const final¶: The Event that needs to finish for this phase to be complete.

virtual rmf_traffic::Duration estimate_remaining_time() const final¶: The estimated finish time for this phase.

Public Static Functions

static ConstSnapshotPtr make(const Active &active)¶: Make a snapshot of an Active phase.

class Tag¶

Basic static information about a phase. This information should go unchanged from the Pending state, through the Active state, and into the Completed state.

Public Types

using Id = uint64_t¶

Public Functions

Tag(Id id_, Header header_)¶

Constructor

Parameters

[in] id_: ID of the phase. This phase ID must be unique within its Task instance.
[in] header_: Header of the phase.

Id id() const¶: Unique ID of the phase.

const Header &header() const¶: Header of the phase, containing human-friendly high-level information about the phase.

Class Phase::Active¶

Defined in File Phase.hpp

Nested Relationships¶

This class is a nested type of Class Phase.

Inheritance Relationships¶

Derived Types¶

public rmf_task::Phase::Snapshot (Class Phase::Snapshot)
public rmf_task::phases::RestoreBackup::Active (Class RestoreBackup::Active)

Class Documentation¶

class rmf_task::Phase::Active

Subclassed by rmf_task::Phase::Snapshot, rmf_task::phases::RestoreBackup::Active

Public Functions

virtual ConstTagPtr tag() const = 0: Tag of the phase.

virtual Event::ConstStatePtr final_event() const = 0: The Event that needs to finish for this phase to be complete.

virtual rmf_traffic::Duration estimate_remaining_time() const = 0: The estimated finish time for this phase.

virtual ~Active() = default

Class Phase::Completed¶

Defined in File Phase.hpp

Nested Relationships¶

This class is a nested type of Class Phase.

Class Documentation¶

class rmf_task::Phase::Completed

Information about a phase that has been completed.

Public Functions

Completed(ConstSnapshotPtr snapshot_, rmf_traffic::Time start_, rmf_traffic::Time finish_): Constructor.

const ConstSnapshotPtr &snapshot() const: The final log of the phase.

rmf_traffic::Time start_time() const: The actual time that the phase started.

rmf_traffic::Time finish_time() const: The actual time that the phase finished.

Class Phase::Pending¶

Defined in File Phase.hpp

Nested Relationships¶

This class is a nested type of Class Phase.

Class Documentation¶

class rmf_task::Phase::Pending

Public Functions

Pending(ConstTagPtr tag): Constructor.

const ConstTagPtr &tag() const: Tag of the phase.

Pending &will_be_skipped(bool value): Change whether this pending phase will be skipped.

bool will_be_skipped() const: Check if this phase is set to be skipped.

Class Phase::Snapshot¶

Defined in File Phase.hpp

Nested Relationships¶

This class is a nested type of Class Phase.

Inheritance Relationships¶

Base Type¶

public rmf_task::Phase::Active (Class Phase::Active)

Class Documentation¶

class rmf_task::Phase::Snapshot : public rmf_task::Phase::Active

Public Functions

virtual ConstTagPtr tag() const final: Tag of the phase.

virtual Event::ConstStatePtr final_event() const final: The Event that needs to finish for this phase to be complete.

virtual rmf_traffic::Duration estimate_remaining_time() const final: The estimated finish time for this phase.

Public Static Functions

static ConstSnapshotPtr make(const Active &active): Make a snapshot of an Active phase.

Class Phase::Tag¶

Defined in File Phase.hpp

Nested Relationships¶

This class is a nested type of Class Phase.

Class Documentation¶

class rmf_task::Phase::Tag

Basic static information about a phase. This information should go unchanged from the Pending state, through the Active state, and into the Completed state.

Public Types

using Id = uint64_t

Public Functions

Tag(Id id_, Header header_)

Constructor

Parameters

[in] id_: ID of the phase. This phase ID must be unique within its Task instance.
[in] header_: Header of the phase.

Id id() const: Unique ID of the phase.

const Header &header() const: Header of the phase, containing human-friendly high-level information about the phase.

Class RestoreBackup¶

Defined in File RestoreBackup.hpp

Nested Relationships¶

Nested Types¶

Class RestoreBackup::Active

Inheritance Relationships¶

Base Type¶

public rmf_task::Phase (Class Phase)

Class Documentation¶

class rmf_task::phases::RestoreBackup : public rmf_task::Phase ¶

Public Types

using ActivePtr = std::shared_ptr<Active>¶

class Active : public rmf_task::Phase::Active ¶

This is a special phase type designated for restoring the backup of a task.

This phase type uses a reserved phase ID of 0.

Public Functions

virtual ConstTagPtr tag() const final¶: Tag of the phase.

virtual Event::ConstStatePtr final_event() const final¶: The Event that needs to finish for this phase to be complete.

virtual rmf_traffic::Duration estimate_remaining_time() const final¶: The estimated finish time for this phase.

void parsing_failed(const std::string &error_message)¶: Call this function if the parsing fails.

void restoration_failed(const std::string &error_message)¶: Call this function if the restoration fails for some reason besides parsing

void restoration_succeeded()¶: Call this function if the parsing succeeds.

Log &update_log()¶: Get the log to pass in some other kind of message.

Public Static Functions

static ActivePtr make(const std::string &backup_state_str, rmf_traffic::Duration estimated_remaining_time)¶: Make an active RestoreBackup phase.

Class RestoreBackup::Active¶

Defined in File RestoreBackup.hpp

Nested Relationships¶

This class is a nested type of Class RestoreBackup.

Inheritance Relationships¶

Base Type¶

public rmf_task::Phase::Active (Class Phase::Active)

Class Documentation¶

class rmf_task::phases::RestoreBackup::Active : public rmf_task::Phase::Active

This is a special phase type designated for restoring the backup of a task.

This phase type uses a reserved phase ID of 0.

Public Functions

virtual ConstTagPtr tag() const final: Tag of the phase.

virtual Event::ConstStatePtr final_event() const final: The Event that needs to finish for this phase to be complete.

virtual rmf_traffic::Duration estimate_remaining_time() const final: The estimated finish time for this phase.

void parsing_failed(const std::string &error_message): Call this function if the parsing fails.

void restoration_failed(const std::string &error_message): Call this function if the restoration fails for some reason besides parsing

void restoration_succeeded(): Call this function if the parsing succeeds.

Log &update_log(): Get the log to pass in some other kind of message.

Public Static Functions

static ActivePtr make(const std::string &backup_state_str, rmf_traffic::Duration estimated_remaining_time): Make an active RestoreBackup phase.

Class Request¶

Defined in File Request.hpp

Class Documentation¶

class rmf_task::Request¶

Public Functions

Request(const std::string &id, rmf_traffic::Time earliest_start_time, ConstPriorityPtr priority, Task::ConstDescriptionPtr description, bool automatic = false)¶

Constructor

Parameters

[in] earliest_start_time: The desired start time for this request
[in] priority: The priority for this request. This is provided by the Priority Scheme. For requests that do not have any priority this is a nullptr.
[in] description: The description for this request
[in] automatic: True if this request is auto-generated

Request(Task::ConstBookingPtr booking, Task::ConstDescriptionPtr description)¶

Constructor

Parameters

[in] booking: Booking information for this request
[in] description: Description for this request

const Task::ConstBookingPtr &booking() const¶: Get the tag of this request.

const Task::ConstDescriptionPtr &description() const¶: Get the description of this request.

Class RequestFactory¶

Defined in File RequestFactory.hpp

Inheritance Relationships¶

Derived Types¶

public rmf_task::requests::ChargeBatteryFactory (Class ChargeBatteryFactory)
public rmf_task::requests::ParkRobotFactory (Class ParkRobotFactory)

Class Documentation¶

class rmf_task::RequestFactory¶

An abstract interface for generating a tailored request for an AGV given.

Subclassed by rmf_task::requests::ChargeBatteryFactory, rmf_task::requests::ParkRobotFactory

Public Functions

virtual ConstRequestPtr make_request(const State &state) const = 0¶: Generate a request for the AGV given the state that the robot will have when it is ready to perform the request

virtual ~RequestFactory() = default¶

Class ChargeBattery¶

Defined in File ChargeBattery.hpp

Nested Relationships¶

Nested Types¶

Class ChargeBattery::Description

Class Documentation¶

class rmf_task::requests::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

[in] earliest_start_time: The desired start time for this request
[in] priority: The priority for this request
[in] automatic: True if this request is auto-generated

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

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

[in] initial_state: The predicted initial state for the task
[in] parameters: The task planning parameters

Public Static Functions

static Task::ConstDescriptionPtr make()¶: Generate the description for this request.

Class ChargeBattery::Description¶

Defined in File ChargeBattery.hpp

Nested Relationships¶

This class is a nested type of Class ChargeBattery.

Inheritance Relationships¶

Base Type¶

public rmf_task::Task::Description (Class Task::Description)

Class Documentation¶

class rmf_task::requests::ChargeBattery::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

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

[in] initial_state: The predicted initial state for the task
[in] parameters: The task planning parameters

Public Static Functions

static Task::ConstDescriptionPtr make(): Generate the description for this request.

Class ChargeBatteryFactory¶

Defined in File ChargeBatteryFactory.hpp

Inheritance Relationships¶

Base Type¶

public rmf_task::RequestFactory (Class RequestFactory)

Class Documentation¶

class rmf_task::requests::ChargeBatteryFactory : public rmf_task::RequestFactory ¶

The ChargeBatteryFactory will generate a ChargeBattery 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 recharge_soc specified in its agv::Constraints

Public Functions

ChargeBatteryFactory()¶

virtual ConstRequestPtr make_request(const State &state) const final¶: Documentation inherited.

Class Clean¶

Defined in File Clean.hpp

Nested Relationships¶

Nested Types¶

Class Clean::Description

Class Documentation¶

class rmf_task::requests::Clean¶

A class that generates a Request which requires an AGV to perform a cleaning operation at a location

Public Static Functions

static ConstRequestPtr make(std::size_t start_waypoint, std::size_t end_waypoint, const rmf_traffic::Trajectory &cleaning_path, const std::string &id, rmf_traffic::Time earliest_start_time, ConstPriorityPtr priority = nullptr, bool automatic = false)¶

Generate a clean request

Parameters

[in] start_waypoint: The graph index for the location where the AGV should begin its cleaning operation
[in] end_waypoint: The graph index for the location where the AGV ends up after its cleaning operation
[in] cleaning_path: A trajectory that describes the motion of the AGV during the cleaning operation. This is used to determine the process duration and expected battery drain
[in] id: A unique id for this request
[in] earliest_start_time: The desired start time for this request
[in] priority: The priority for this request
[in] automatic: True if this request is auto-generated

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

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

[in] initial_state: The predicted initial state for the task
[in] parameters: The task planning parameters

std::size_t start_waypoint() const¶: Get the start waypoint in this request.

std::size_t end_waypoint() const¶: Get the end waypoint in this request.

Public Static Functions

static std::shared_ptr<Description> make(std::size_t start_waypoint, std::size_t end_waypoint, const rmf_traffic::Trajectory &cleaning_path)¶: Generate the description for this request.

Class Clean::Description¶

Defined in File Clean.hpp

Nested Relationships¶

This class is a nested type of Class Clean.

Inheritance Relationships¶

Base Type¶

public rmf_task::Task::Description (Class Task::Description)

Class Documentation¶

class rmf_task::requests::Clean::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

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

[in] initial_state: The predicted initial state for the task
[in] parameters: The task planning parameters

std::size_t start_waypoint() const: Get the start waypoint in this request.

std::size_t end_waypoint() const: Get the end waypoint in this request.

Public Static Functions

static std::shared_ptr<Description> make(std::size_t start_waypoint, std::size_t end_waypoint, const rmf_traffic::Trajectory &cleaning_path): Generate the description for this request.

Class Delivery¶

Defined in File Delivery.hpp

Nested Relationships¶

Nested Types¶

Class Delivery::Description

Class Documentation¶

class rmf_task::requests::Delivery¶

A class that generates a Request which requires an AGV to pickup items from one location and deliver them to another

Public Static Functions

static ConstRequestPtr make(std::size_t pickup_waypoint, rmf_traffic::Duration pickup_wait, std::size_t dropoff_waypoint, rmf_traffic::Duration dropoff_wait, Payload payload, const std::string &id, rmf_traffic::Time earliest_start_time, ConstPriorityPtr priority = nullptr, bool automatic = false, std::string pickup_from_dispenser = "", std::string dropoff_to_ingestor = "")¶

Generate a delivery request

Parameters

[in] pickup_waypoint: The graph index for the pickup location
[in] pickup_wait: The expected duration the AGV has to wait at the pickup location for the items to be loaded
[in] dropoff_waypoint: The graph index for the dropoff location
[in] dropoff_wait: The expected duration the AGV has to wait at the dropoff location for the items to be unloaded
[in] id: A unique id for this request
[in] earliest_start_time: The desired start time for this request
[in] priority: The priority for this request
[in] automatic: True if this request is auto-generated

class Description : public rmf_task::Task::Description ¶

Public Types

using Start = rmf_traffic::agv::Planner::Start¶

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

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

[in] initial_state: The predicted initial state for the task
[in] parameters: The task planning parameters

std::size_t pickup_waypoint() const¶: Get the pickup waypoint in this request.

std::string pickup_from_dispenser() const¶: Get the name of the dispenser that we’re picking up from.

rmf_traffic::Duration pickup_wait() const¶: Get the duration over which delivery items are loaded.

std::size_t dropoff_waypoint() const¶: Get the dropoff waypoint in this request.

std::string dropoff_to_ingestor() const¶: Get the name of the ingestor that we’re dropping off to.

rmf_traffic::Duration dropoff_wait() const¶: Get the duration over which delivery items are unloaded.

const Payload &payload() const¶: Get the payload that is being delivered.

Public Static Functions

static Task::ConstDescriptionPtr make(std::size_t pickup_waypoint, rmf_traffic::Duration pickup_duration, std::size_t dropoff_waypoint, rmf_traffic::Duration dropoff_duration, Payload payload, std::string pickup_from_dispenser = "", std::string dropoff_to_ingestor = "")¶: Generate the description for this request.

Class Delivery::Description¶

Defined in File Delivery.hpp

Nested Relationships¶

This class is a nested type of Class Delivery.

Inheritance Relationships¶

Base Type¶

public rmf_task::Task::Description (Class Task::Description)

Class Documentation¶

class rmf_task::requests::Delivery::Description : public rmf_task::Task::Description

Public Types

using Start = rmf_traffic::agv::Planner::Start

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

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

[in] initial_state: The predicted initial state for the task
[in] parameters: The task planning parameters

std::size_t pickup_waypoint() const: Get the pickup waypoint in this request.

std::string pickup_from_dispenser() const: Get the name of the dispenser that we’re picking up from.

rmf_traffic::Duration pickup_wait() const: Get the duration over which delivery items are loaded.

std::size_t dropoff_waypoint() const: Get the dropoff waypoint in this request.

std::string dropoff_to_ingestor() const: Get the name of the ingestor that we’re dropping off to.

rmf_traffic::Duration dropoff_wait() const: Get the duration over which delivery items are unloaded.

const Payload &payload() const: Get the payload that is being delivered.

Public Static Functions

static Task::ConstDescriptionPtr make(std::size_t pickup_waypoint, rmf_traffic::Duration pickup_duration, std::size_t dropoff_waypoint, rmf_traffic::Duration dropoff_duration, Payload payload, std::string pickup_from_dispenser = "", std::string dropoff_to_ingestor = ""): Generate the description for this request.

Class Loop¶

Defined in File Loop.hpp

Nested Relationships¶

Nested Types¶

Class Loop::Description

Class Documentation¶

class rmf_task::requests::Loop¶

A class that generates a Request which requires an AGV to repeatedly travel between two locations

Public Static Functions

static ConstRequestPtr make(std::size_t start_waypoint, std::size_t finish_waypoint, std::size_t num_loops, const std::string &id, rmf_traffic::Time earliest_start_time, ConstPriorityPtr priority = nullptr, bool automatic = false)¶

Generate a loop request

Parameters

[in] start_waypoint: The graph index for the starting waypoint of the loop
[in] finish_waypoint: The graph index for the finishing waypoint of the loop
[in] num_loops: The number of times the AGV should loop between the start_waypoint and finish_waypoint
[in] id: A unique id for this request
[in] earliest_start_time: The desired start time for this request
[in] priority: The priority for this request
[in] automatic: True if this request is auto-generated

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

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

[in] initial_state: The predicted initial state for the task
[in] parameters: The task planning parameters

std::size_t start_waypoint() const¶: Get the start waypoint of the loop in this request.

std::size_t finish_waypoint() const¶: Get the finish waypoint of the loop in this request.

std::size_t num_loops() const¶: Get the numbert of loops in this request.

Public Static Functions

static Task::ConstDescriptionPtr make(std::size_t start_waypoint, std::size_t finish_waypoint, std::size_t num_loops)¶: Generate the description for this request.

Class Loop::Description¶

Defined in File Loop.hpp

Nested Relationships¶

This class is a nested type of Class Loop.

Inheritance Relationships¶

Base Type¶

public rmf_task::Task::Description (Class Task::Description)

Class Documentation¶

class rmf_task::requests::Loop::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

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

[in] initial_state: The predicted initial state for the task
[in] parameters: The task planning parameters

std::size_t start_waypoint() const: Get the start waypoint of the loop in this request.

std::size_t finish_waypoint() const: Get the finish waypoint of the loop in this request.

std::size_t num_loops() const: Get the numbert of loops in this request.

Public Static Functions

static Task::ConstDescriptionPtr make(std::size_t start_waypoint, std::size_t finish_waypoint, std::size_t num_loops): Generate the description for this request.

Class ParkRobotFactory¶

Defined in File ParkRobotFactory.hpp

Inheritance Relationships¶

Base Type¶

public rmf_task::RequestFactory (Class RequestFactory)

Class Documentation¶

class rmf_task::requests::ParkRobotFactory : public rmf_task::RequestFactory ¶

The ParkRobotFactory will generate a request for the AGV to return to its desginated parking spot and remain idle there. This factory may be used when AGVs should not remain idle at the location of their last task but rather wait for new orders at their designated parking spots.

Public Functions

ParkRobotFactory(std::optional<std::size_t> parking_waypoint = std::nullopt)¶

Constructor

Parameters

[in] parking_waypoint: The graph index of the waypoint assigned to this AGV for parking. If nullopt, the AGV will return to its charging_waypoint and remain idle there. It will not wait for its battery to charge up before undertaking new tasks.

virtual ConstRequestPtr make_request(const State &state) const final¶: Documentation inherited.

Class State¶

Defined in File State.hpp

Inheritance Relationships¶

Base Type¶

public rmf_task::CompositeData (Class CompositeData)

Class Documentation¶

class rmf_task::State : public rmf_task::CompositeData ¶

Public Functions

RMF_TASK_DEFINE_COMPONENT(std::size_t, CurrentWaypoint)¶: The current waypoint of the robot state.

std::optional<std::size_t> waypoint() const¶

State &waypoint(std::size_t new_waypoint)¶

RMF_TASK_DEFINE_COMPONENT(double, CurrentOrientation)¶: The current orientation of the robot state.

std::optional<double> orientation() const¶

State &orientation(double new_orientation)¶

RMF_TASK_DEFINE_COMPONENT(rmf_traffic::Time, CurrentTime)¶: The current time for the robot.

std::optional<rmf_traffic::Time> time() const¶

State &time(rmf_traffic::Time new_time)¶

RMF_TASK_DEFINE_COMPONENT(std::size_t, DedicatedChargingPoint)¶: The dedicated charging point for this robot.

std::optional<std::size_t> dedicated_charging_waypoint() const¶

State &dedicated_charging_waypoint(std::size_t new_charging_waypoint)¶

RMF_TASK_DEFINE_COMPONENT(double, CurrentBatterySoC)¶: The current battery state of charge of the robot. This value is between 0.0 and 1.0.

std::optional<double> battery_soc() const¶

State &battery_soc(double new_battery_soc)¶

State &load_basic(const rmf_traffic::agv::Plan::Start &location, std::size_t charging_point, double battery_soc)¶

Load the basic state components expected for the planner.

Parameters

[in] location: The robot’s initial location data.
[in] charging_point: The robot’s dedicated charging point.
[in] battery_soc: The robot’s initial battery state of charge.

State &load(const rmf_traffic::agv::Plan::Start &location)¶: Load the plan start into the State. The location info will be split into CurrentWaypoint, CurrentOrientation, and CurrentTime data.

std::optional<rmf_traffic::agv::Plan::Start> project_plan_start(double default_orientation = 0.0, rmf_traffic::Time default_time = rmf_traffic::Time()) const¶

Project an rmf_traffic::agv::Plan::Start from this State.

If CurrentWaypoint is unavailable, this will return a std::nullopt. For any other components that are unavailable (CurrentOrientation or CurrentTime), the given default values will be used.

Parameters

[in] default_orientation: The orientation value that will be used if CurrentOrientation is not available in this State.
[in] default_time: The time value that will be used if default_time is not available in this State.

std::optional<rmf_traffic::agv::Plan::Start> extract_plan_start() const¶

Extract an rmf_traffic::agv::Plan::Start from this State.

If any necessary component is missing (i.e. CurrentWaypoint, CurrentOrientation, or CurrentTime) then this will return a std::nullopt.

Class Task¶

Defined in File Task.hpp

Nested Relationships¶

Nested Types¶

Class Documentation¶

class rmf_task::Task¶

Pure abstract interface for an executable Task.

Public Types

using ConstBookingPtr = std::shared_ptr<const Booking>¶

using ConstTagPtr = std::shared_ptr<const Tag>¶

using ConstModelPtr = std::shared_ptr<const Model>¶

using ConstDescriptionPtr = std::shared_ptr<const Description>¶

using ActivePtr = std::shared_ptr<Active>¶

class Active¶

Public Types

using Backup = detail::Backup ¶

Backup data for the task. The state of the task is represented by a string. The meaning and format of the string is up to the Task implementation to decide.

Each Backup is tagged with a sequence number. As the Task makes progress, it can issue new Backups with higher sequence numbers. Only the Backup with the highest sequence number will be kept.

using Resume = detail::Resume ¶: The Resume class keeps track of when the Task is allowed to Resume. You can either call the Resume object’s operator() or let the object expire to tell the Task that it may resume.

Public Functions

virtual Event::Status status_overview() const = 0¶: Get a quick overview status of how the task is going.

virtual bool finished() const = 0¶: Check if this task is finished, which could include successful completion or cancellation.

virtual const std::vector<Phase::ConstCompletedPtr> &completed_phases() const = 0¶: Descriptions of the phases that have been completed.

virtual Phase::ConstActivePtr active_phase() const = 0¶: Interface for the phase that is currently active.

virtual std::optional<rmf_traffic::Time> active_phase_start_time() const = 0¶: Time that the current active phase started.

virtual const std::vector<Phase::Pending> &pending_phases() const = 0¶: Descriptions of the phases that are expected in the future.

virtual const ConstTagPtr &tag() const = 0¶: The tag of this Task.

virtual rmf_traffic::Duration estimate_remaining_time() const = 0¶: Estimate the overall finishing time of the task.

virtual Backup backup() const = 0¶: Get a backup for this Task.

virtual Resume interrupt(std::function<void()> task_is_interrupted) = 0¶

Tell this Task that it needs to be interrupted. An interruption means the robot may be commanded to do other tasks before this task resumes.

Interruptions may occur to allow operators to take manual control of the robot, or to engage automatic behaviors in response to emergencies, e.g. fire alarms or code blues.

Return

an object to inform the Task when it is allowed to resume.

Parameters

[in] task_is_interrupted: This callback will be triggered when the Task has reached a state where it is okay to start issuing other commands to the robot.

virtual void cancel() = 0¶

Tell the Task that it has been canceled. The behavior that follows a cancellation will vary between different Tasks, but generally it means that the robot should no longer try to complete its Task and should instead try to return itself to an unencumbered state as quickly as possible.

The Task may continue to perform some phases after being canceled. The pending_phases are likely to change after the Task is canceled, being replaced with phases that will help to relieve the robot so it can return to an unencumbered state.

The Task should continue to be tracked as normal. When its finished callback is triggered, the cancellation is complete.

virtual void kill() = 0¶

Kill this Task. The behavior that follows a kill will vary between different Tasks, but generally it means that the robot should be returned to a safe idle state as soon as possible, even if it remains encumbered by something related to this Task.

The Task should continue to be tracked as normal. When its finished callback is triggered, the killing is complete.

The kill() command supersedes the cancel() command. Calling cancel() after calling kill() will have no effect.

virtual void skip(uint64_t phase_id, bool value = true) = 0¶

Skip a specific phase within the task. This can be issued by operators if manual intervention is needed to unblock a task.

If a pending phase is specified, that phase will be skipped when the Task reaches it.

Parameters

[in] phase_id: The ID of the phase that should be skipped.
[in] value: True if the phase should be skipped, false otherwise.

virtual void rewind(uint64_t phase_id) = 0¶

Rewind the Task to a specific phase. This can be issued by operators if a phase did not actually go as intended and needs to be repeated.

It is possible that the Task will rewind further back than the specified phase_id if the specified phase depends on an earlier one. This is up to the discretion of the Task implementation.

virtual ~Active() = default¶

Protected Static Functions

static Resume make_resumer(std::function<void()> callback)¶

Used by classes that inherit the Task interface to create a Resumer object

Parameters

[in] callback: Provide the callback that should be triggered when the Task is allowed to resume

class Booking¶

Basic information about how the task was booked, e.g. what its name is, when it should start, and what its priority is.

Public Functions

Booking(std::string id_, rmf_traffic::Time earliest_start_time_, ConstPriorityPtr priority_, bool automatic_ = false)¶

Constructor

Parameters

[in] id_: The identity of the booking
[in] earliest_start_time_: The earliest time that the task may begin
[in] priority_: The priority of the booking
[in] automatic_: Whether this booking was automatically generated

const std::string &id() const¶: The unique id for this booking.

rmf_traffic::Time earliest_start_time() const¶: Get the earliest time that this booking may begin.

ConstPriorityPtr priority() const¶: Get the priority of this booking.

bool automatic() const¶

class Description¶

An abstract interface to define the specifics of this task. This implemented description will differentiate this task from others.

Subclassed by rmf_task::requests::ChargeBattery::Description, rmf_task::requests::Clean::Description, rmf_task::requests::Delivery::Description, rmf_task::requests::Loop::Description

Public Functions

virtual ConstModelPtr make_model(rmf_traffic::Time earliest_start_time, const Parameters &parameters) const = 0¶

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

Parameters

[in] earliest_start_time: The earliest time this task should begin execution. This is usually the requested start time for the task.
[in] parameters: The parameters that describe this AGV

virtual Info generate_info(const State &initial_state, const Parameters &parameters) const = 0¶

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

Parameters

[in] initial_state: The predicted initial state for the task
[in] parameters: The task planning parameters

virtual ~Description() = default¶

struct Info¶

Public Members

std::string category¶

std::string detail¶

class Model¶

An abstract interface for computing the estimate and invariant durations of this request

Public Functions

virtual std::optional<Estimate> estimate_finish(const State &initial_state, const Constraints &task_planning_constraints, const TravelEstimator &travel_estimator) const = 0¶: Estimate the state of the robot when the task is finished along with the time the robot has to wait before commencing the task

virtual rmf_traffic::Duration invariant_duration() const = 0¶: Estimate the invariant component of the task’s duration.

virtual ~Model() = default¶

class Tag¶

Basic static information about the task.

Public Functions

Tag(ConstBookingPtr booking_, Header header_)¶: Constructor.

const ConstBookingPtr &booking() const¶: The booking information of the request that this Task is carrying out.

const Header &header() const¶: The header for this Task.

Class Task::Active¶

Defined in File Task.hpp

Nested Relationships¶

This class is a nested type of Class Task.

Class Documentation¶

class rmf_task::Task::Active

Public Types

using Backup = detail::Backup

Backup data for the task. The state of the task is represented by a string. The meaning and format of the string is up to the Task implementation to decide.

Each Backup is tagged with a sequence number. As the Task makes progress, it can issue new Backups with higher sequence numbers. Only the Backup with the highest sequence number will be kept.

using Resume = detail::Resume: The Resume class keeps track of when the Task is allowed to Resume. You can either call the Resume object’s operator() or let the object expire to tell the Task that it may resume.

Public Functions

virtual Event::Status status_overview() const = 0: Get a quick overview status of how the task is going.

virtual bool finished() const = 0: Check if this task is finished, which could include successful completion or cancellation.

virtual const std::vector<Phase::ConstCompletedPtr> &completed_phases() const = 0: Descriptions of the phases that have been completed.

virtual Phase::ConstActivePtr active_phase() const = 0: Interface for the phase that is currently active.

virtual std::optional<rmf_traffic::Time> active_phase_start_time() const = 0: Time that the current active phase started.

virtual const std::vector<Phase::Pending> &pending_phases() const = 0: Descriptions of the phases that are expected in the future.

virtual const ConstTagPtr &tag() const = 0: The tag of this Task.

virtual rmf_traffic::Duration estimate_remaining_time() const = 0: Estimate the overall finishing time of the task.

virtual Backup backup() const = 0: Get a backup for this Task.

virtual Resume interrupt(std::function<void()> task_is_interrupted) = 0

Tell this Task that it needs to be interrupted. An interruption means the robot may be commanded to do other tasks before this task resumes.

Interruptions may occur to allow operators to take manual control of the robot, or to engage automatic behaviors in response to emergencies, e.g. fire alarms or code blues.

Return

an object to inform the Task when it is allowed to resume.

Parameters

[in] task_is_interrupted: This callback will be triggered when the Task has reached a state where it is okay to start issuing other commands to the robot.

virtual void cancel() = 0

Tell the Task that it has been canceled. The behavior that follows a cancellation will vary between different Tasks, but generally it means that the robot should no longer try to complete its Task and should instead try to return itself to an unencumbered state as quickly as possible.

The Task may continue to perform some phases after being canceled. The pending_phases are likely to change after the Task is canceled, being replaced with phases that will help to relieve the robot so it can return to an unencumbered state.

The Task should continue to be tracked as normal. When its finished callback is triggered, the cancellation is complete.

virtual void kill() = 0

Kill this Task. The behavior that follows a kill will vary between different Tasks, but generally it means that the robot should be returned to a safe idle state as soon as possible, even if it remains encumbered by something related to this Task.

The Task should continue to be tracked as normal. When its finished callback is triggered, the killing is complete.

The kill() command supersedes the cancel() command. Calling cancel() after calling kill() will have no effect.

virtual void skip(uint64_t phase_id, bool value = true) = 0

Skip a specific phase within the task. This can be issued by operators if manual intervention is needed to unblock a task.

If a pending phase is specified, that phase will be skipped when the Task reaches it.

Parameters

[in] phase_id: The ID of the phase that should be skipped.
[in] value: True if the phase should be skipped, false otherwise.

virtual void rewind(uint64_t phase_id) = 0

Rewind the Task to a specific phase. This can be issued by operators if a phase did not actually go as intended and needs to be repeated.

It is possible that the Task will rewind further back than the specified phase_id if the specified phase depends on an earlier one. This is up to the discretion of the Task implementation.

virtual ~Active() = default

Protected Static Functions

static Resume make_resumer(std::function<void()> callback)

Used by classes that inherit the Task interface to create a Resumer object

Parameters

[in] callback: Provide the callback that should be triggered when the Task is allowed to resume

Class Task::Booking¶

Defined in File Task.hpp

Nested Relationships¶

This class is a nested type of Class Task.

Class Documentation¶

class rmf_task::Task::Booking

Basic information about how the task was booked, e.g. what its name is, when it should start, and what its priority is.

Public Functions

Booking(std::string id_, rmf_traffic::Time earliest_start_time_, ConstPriorityPtr priority_, bool automatic_ = false)

Constructor

Parameters

[in] id_: The identity of the booking
[in] earliest_start_time_: The earliest time that the task may begin
[in] priority_: The priority of the booking
[in] automatic_: Whether this booking was automatically generated

const std::string &id() const: The unique id for this booking.

rmf_traffic::Time earliest_start_time() const: Get the earliest time that this booking may begin.

ConstPriorityPtr priority() const: Get the priority of this booking.

bool automatic() const

Class Task::Description¶

Defined in File Task.hpp

Nested Relationships¶

This class is a nested type of Class Task.

Nested Types¶

Struct Description::Info

Inheritance Relationships¶

Derived Types¶

public rmf_task::requests::ChargeBattery::Description (Class ChargeBattery::Description)
public rmf_task::requests::Clean::Description (Class Clean::Description)
public rmf_task::requests::Delivery::Description (Class Delivery::Description)
public rmf_task::requests::Loop::Description (Class Loop::Description)

Class Documentation¶

class rmf_task::Task::Description

An abstract interface to define the specifics of this task. This implemented description will differentiate this task from others.

Subclassed by rmf_task::requests::ChargeBattery::Description, rmf_task::requests::Clean::Description, rmf_task::requests::Delivery::Description, rmf_task::requests::Loop::Description

Public Functions

virtual ConstModelPtr make_model(rmf_traffic::Time earliest_start_time, const Parameters &parameters) const = 0

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

Parameters

[in] earliest_start_time: The earliest time this task should begin execution. This is usually the requested start time for the task.
[in] parameters: The parameters that describe this AGV

virtual Info generate_info(const State &initial_state, const Parameters &parameters) const = 0

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

Parameters

[in] initial_state: The predicted initial state for the task
[in] parameters: The task planning parameters

virtual ~Description() = default

struct Info

Public Members

std::string category

std::string detail

Class Task::Model¶

Defined in File Task.hpp

Nested Relationships¶

This class is a nested type of Class Task.

Class Documentation¶

class rmf_task::Task::Model

An abstract interface for computing the estimate and invariant durations of this request

Public Functions

virtual std::optional<Estimate> estimate_finish(const State &initial_state, const Constraints &task_planning_constraints, const TravelEstimator &travel_estimator) const = 0: Estimate the state of the robot when the task is finished along with the time the robot has to wait before commencing the task

virtual rmf_traffic::Duration invariant_duration() const = 0: Estimate the invariant component of the task’s duration.

virtual ~Model() = default

Class Task::Tag¶

Defined in File Task.hpp

Nested Relationships¶

This class is a nested type of Class Task.

Class Documentation¶

class rmf_task::Task::Tag

Basic static information about the task.

Public Functions

Tag(ConstBookingPtr booking_, Header header_): Constructor.

const ConstBookingPtr &booking() const: The booking information of the request that this Task is carrying out.

const Header &header() const: The header for this Task.

Class TaskPlanner¶

Defined in File TaskPlanner.hpp

Nested Relationships¶

Nested Types¶

Class Documentation¶

class rmf_task::TaskPlanner¶

Public Types

enum TaskPlannerError¶

Values:

enumerator low_battery¶: None of the agents in the initial states have sufficient initial charge to even head back to their charging stations. Manual intervention is needed to recharge one or more agents.

enumerator limited_capacity¶: None of the agents in the initial states have sufficient battery capacity to accommodate one or more requests. This may be remedied by increasing the battery capacity or by lowering the threshold_soc in the state configs of the agents or by modifying the original request.

using Assignments = std::vector<std::vector<Assignment>>¶: Container for assignments for each agent.

using Result = std::variant<Assignments, TaskPlannerError>¶

Public Functions

TaskPlanner(Configuration configuration, Options default_options)¶

Constructor

Parameters

[in] configuration: The configuration for the planner
[in] default_options: Default options for the task planner to use when solving for assignments. These options can be overriden each time a plan is requested.

const Configuration &configuration() const¶: Get a const reference to configuration of this task planner.

const Options &default_options() const¶: Get a const reference to the default planning options.

Options &default_options()¶: Get a mutable reference to the default planning options.

Result plan(rmf_traffic::Time time_now, std::vector<State> agents, std::vector<ConstRequestPtr> requests)¶

Generate assignments for requests among available agents. The default Options of this TaskPlanner instance will be used.

Parameters

[in] time_now: The current time when this plan is requested
[in] agents: The initial states of the agents/AGVs that can undertake the requests
[in] requests: The set of requests that need to be assigned among the agents/AGVs

Result plan(rmf_traffic::Time time_now, std::vector<State> agents, std::vector<ConstRequestPtr> requests, Options options)¶

Generate assignments for requests among available agents. Override the default parameters

Parameters

[in] time_now: The current time when this plan is requested
[in] agents: The initial states of the agents/AGVs that can undertake the requests
[in] requests: The set of requests that need to be assigned among the agents/AGVs
[in] options: The options to use for this plan. This overrides the default Options of the TaskPlanner instance

double compute_cost(const Assignments &assignments) const¶: Compute the cost of a set of assignments.

class Assignment¶

Public Functions

Assignment(rmf_task::ConstRequestPtr request, State finish_state, rmf_traffic::Time deployment_time)¶

Constructor

Parameters

[in] request: The task request for this assignment
[in] state: The state of the agent at the end of the assigned task
[in] earliest_start_time: The earliest time the agent will begin exececuting this task

const rmf_task::ConstRequestPtr &request() const¶

const State &finish_state() const¶

const rmf_traffic::Time deployment_time() const¶

class Configuration¶

The Configuration class contains planning parameters that are immutable for each TaskPlanner instance and should not change in between plans.

Public Functions

Configuration(Parameters parameters, Constraints constraints, ConstCostCalculatorPtr cost_calculator)¶

Constructor

Parameters

[in] parameters: The parameters that describe the agents
[in] constraints: The constraints that apply to the agents
[in] cost_calculator: An object that tells the planner how to calculate cost

const Parameters &parameters() const¶: Get the parameters that describe the agents.

Configuration &parameters(Parameters parameters)¶: Set the parameters that describe the agents.

const Constraints &constraints() const¶: Get the constraints that are applicable to the agents.

Configuration &constraints(Constraints constraints)¶: Set the constraints that are applicable to the agents.

const ConstCostCalculatorPtr &cost_calculator() const¶: Get the CostCalculator.

Configuration &cost_calculator(ConstCostCalculatorPtr cost_calculator)¶: Set the CostCalculator. If a nullptr is passed, the BinaryPriorityCostCalculator is used by the planner.

class Options¶

The Options class contains planning parameters that can change between each planning attempt.

Public Functions

Options(bool greedy, std::function<bool()> interrupter = nullptrConstRequestFactoryPtr finishing_request = nullptr, )¶

Constructor

Parameters

[in] greedy: If true, a greedy approach will be used to solve for the task assignments. Optimality is not guaranteed but the solution time may be faster. If false, an A* based approach will be used within the planner which guarantees optimality but may take longer to solve.
[in] interrupter: A function that can determine whether the planning should be interrupted.
[in] finishing_request: A request factory that generates a tailored task for each agent/AGV to perform at the end of their assignments

Options &greedy(bool value)¶: Set whether a greedy approach should be used.

bool greedy() const¶: Get whether a greedy approach will be used.

Options &interrupter(std::function<bool()> interrupter)¶: Set an interrupter callback that will indicate to the planner if it should stop trying to plan

const std::function<bool()> &interrupter() const¶: Get the interrupter that will be used in this Options.

Options &finishing_request(ConstRequestFactoryPtr finishing_request)¶: Set the request factory that will generate a finishing task.

ConstRequestFactoryPtr finishing_request() const¶: Get the request factory that will generate a finishing task.

Class TaskPlanner::Assignment¶

Defined in File TaskPlanner.hpp

Nested Relationships¶

This class is a nested type of Class TaskPlanner.

Class Documentation¶

class rmf_task::TaskPlanner::Assignment

Public Functions

Assignment(rmf_task::ConstRequestPtr request, State finish_state, rmf_traffic::Time deployment_time)

Constructor

Parameters

[in] request: The task request for this assignment
[in] state: The state of the agent at the end of the assigned task
[in] earliest_start_time: The earliest time the agent will begin exececuting this task

const rmf_task::ConstRequestPtr &request() const

const State &finish_state() const

const rmf_traffic::Time deployment_time() const

Class TaskPlanner::Configuration¶

Defined in File TaskPlanner.hpp

Nested Relationships¶

This class is a nested type of Class TaskPlanner.

Class Documentation¶

class rmf_task::TaskPlanner::Configuration

The Configuration class contains planning parameters that are immutable for each TaskPlanner instance and should not change in between plans.

Public Functions

Configuration(Parameters parameters, Constraints constraints, ConstCostCalculatorPtr cost_calculator)

Constructor

Parameters

[in] parameters: The parameters that describe the agents
[in] constraints: The constraints that apply to the agents
[in] cost_calculator: An object that tells the planner how to calculate cost

const Parameters &parameters() const: Get the parameters that describe the agents.

Configuration &parameters(Parameters parameters): Set the parameters that describe the agents.

const Constraints &constraints() const: Get the constraints that are applicable to the agents.

Configuration &constraints(Constraints constraints): Set the constraints that are applicable to the agents.

const ConstCostCalculatorPtr &cost_calculator() const: Get the CostCalculator.

Configuration &cost_calculator(ConstCostCalculatorPtr cost_calculator): Set the CostCalculator. If a nullptr is passed, the BinaryPriorityCostCalculator is used by the planner.

Class TaskPlanner::Options¶

Defined in File TaskPlanner.hpp

Nested Relationships¶

This class is a nested type of Class TaskPlanner.

Class Documentation¶

class rmf_task::TaskPlanner::Options

The Options class contains planning parameters that can change between each planning attempt.

Public Functions

Options(bool greedy, std::function<bool()> interrupter = nullptrConstRequestFactoryPtr finishing_request = nullptr, )

Constructor

Parameters

[in] greedy: If true, a greedy approach will be used to solve for the task assignments. Optimality is not guaranteed but the solution time may be faster. If false, an A* based approach will be used within the planner which guarantees optimality but may take longer to solve.
[in] interrupter: A function that can determine whether the planning should be interrupted.
[in] finishing_request: A request factory that generates a tailored task for each agent/AGV to perform at the end of their assignments

Options &greedy(bool value): Set whether a greedy approach should be used.

bool greedy() const: Get whether a greedy approach will be used.

Options &interrupter(std::function<bool()> interrupter): Set an interrupter callback that will indicate to the planner if it should stop trying to plan

const std::function<bool()> &interrupter() const: Get the interrupter that will be used in this Options.

Options &finishing_request(ConstRequestFactoryPtr finishing_request): Set the request factory that will generate a finishing task.

ConstRequestFactoryPtr finishing_request() const: Get the request factory that will generate a finishing task.

Class TravelEstimator¶

Defined in File Estimate.hpp

Nested Relationships¶

Nested Types¶

Class TravelEstimator::Result

Class Documentation¶

class rmf_task::TravelEstimator¶

A class to estimate the cost of travelling between any two points in a navigation graph. Results will be memoized for efficiency.

Public Functions

TravelEstimator(const Parameters &parameters)¶

Constructor

Parameters

[in] parameters: The parameters for the robot

std::optional<Result> estimate(const rmf_traffic::agv::Plan::Start &start, const rmf_traffic::agv::Plan::Goal &goal) const¶: Estimate the cost of travelling.

class Result¶

The result of a travel estimation.

Public Functions

rmf_traffic::Duration duration() const¶: How long the travelling will take.

double change_in_charge() const¶: How much the battery will drain while travelling.

Class TravelEstimator::Result¶

Defined in File Estimate.hpp

Nested Relationships¶

This class is a nested type of Class TravelEstimator.

Class Documentation¶

class rmf_task::TravelEstimator::Result

The result of a travel estimation.

Public Functions

rmf_traffic::Duration duration() const: How long the travelling will take.

double change_in_charge() const: How much the battery will drain while travelling.

Class VersionedString¶

Defined in File VersionedString.hpp

Nested Relationships¶

Nested Types¶

Class Documentation¶

class rmf_task::VersionedString¶

Public Functions

VersionedString(std::string initial_value)¶

Construct a versioned string

Parameters

[in] initial_value: The initial value of this versioned string

void update(std::string new_value)¶

Update the value of this versioned string

Parameters

[in] new_value: The new value for this versioned string

View view() const¶: Get a view of the current version of the string.

class Reader¶

Public Functions

Reader()¶: Construct a Reader.

std::shared_ptr<const std::string> read(const View &view)¶

Read from the View.

If this Reader has never seen this View before, then this function will return a reference to the string that the View contains. Otherwise, if this Reader has seen this View before, then this function will return a nullptr.

Parameters

[in] view: The view that the Reader should look at

class View¶

A snapshot view of a VersionedString. This is thread-safe to read even while the VersionedString is being modified. Each VersionedString::Reader instance will only view this object once; after the first viewing it will return a nullptr.

The contents of this View can only be retrieved by a VersionedString::Reader

Class VersionedString::Reader¶

Defined in File VersionedString.hpp

Nested Relationships¶

This class is a nested type of Class VersionedString.

Class Documentation¶

class rmf_task::VersionedString::Reader

Public Functions

Reader(): Construct a Reader.

std::shared_ptr<const std::string> read(const View &view)

Read from the View.

If this Reader has never seen this View before, then this function will return a reference to the string that the View contains. Otherwise, if this Reader has seen this View before, then this function will return a nullptr.

Parameters

[in] view: The view that the Reader should look at

Class VersionedString::View¶

Defined in File VersionedString.hpp

Nested Relationships¶

This class is a nested type of Class VersionedString.

Class Documentation¶

class View

A snapshot view of a VersionedString. This is thread-safe to read even while the VersionedString is being modified. Each VersionedString::Reader instance will only view this object once; after the first viewing it will return a nullptr.

The contents of this View can only be retrieved by a VersionedString::Reader

Functions¶

Template Function rmf_task::detail::insertion_cast¶

Defined in File impl_CompositeData.hpp

Function Documentation¶

template<typename T> CompositeData::InsertResult<T> rmf_task::detail::insertion_cast(CompositeData::InsertResult<std::any> result)¶

Function rmf_task::standard_waypoint_name¶

Defined in File Header.hpp

Function Documentation¶

std::string rmf_task::standard_waypoint_name(const rmf_traffic::agv::Graph &graph, std::size_t waypoint)¶

Defines¶

Define RMF_TASK_DEFINE_COMPONENT¶

Defined in File CompositeData.hpp

Define Documentation¶

RMF_TASK_DEFINE_COMPONENT(Type, Name)¶: Define a component class that is convenient to use in a CompositeData instance. The defined class will contain only one field whose type is specified by Type. The name of the class will be Name.