Class Constraints

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.