Class PyRobotCommandHandle

Inheritance Relationships

Base Type

Class Documentation

class PyRobotCommandHandle : public rmf_fleet_adapter::agv::RobotCommandHandle

Public Types

using ArrivalEstimator = std::function<void(std::size_t path_index, rmf_traffic::Duration remaining_time)>

Public Functions

inline void follow_new_path(const std::vector<rmf_traffic::agv::Plan::Waypoint> &waypoints, ArrivalEstimator next_arrival_estimator, std::function<void()> path_finished_callback) override
inline virtual void stop() override

Have the robot come to an immediate stop.

inline virtual void dock(const std::string &dock_name, std::function<void()> docking_finished_callback) override

Have the robot begin a pre-defined docking procedure. Implement this function as a no-op if your robots do not perform docking procedures.

Parameters

  • [in] dock_name: The predefined name of the docking procedure to use.

  • [in] docking_finished_callback: Trigger this callback when the docking is finished.