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.