Class State¶
Defined in File State.hpp
Inheritance Relationships¶
Base Type¶
public rmf_task::CompositeData
(Class CompositeData)
Class Documentation¶
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class
rmf_task
::
State
: public rmf_task::CompositeData¶ Public Functions
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RMF_TASK_DEFINE_COMPONENT
(std::size_t, CurrentWaypoint)¶ The current waypoint of the robot state.
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std::optional<std::size_t>
waypoint
() const¶
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RMF_TASK_DEFINE_COMPONENT
(double, CurrentOrientation)¶ The current orientation of the robot state.
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std::optional<double>
orientation
() const¶
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RMF_TASK_DEFINE_COMPONENT
(rmf_traffic::Time, CurrentTime)¶ The current time for the robot.
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std::optional<rmf_traffic::Time>
time
() const¶
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RMF_TASK_DEFINE_COMPONENT
(std::size_t, DedicatedChargingPoint)¶ The dedicated charging point for this robot.
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std::optional<std::size_t>
dedicated_charging_waypoint
() const¶
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RMF_TASK_DEFINE_COMPONENT
(double, CurrentBatterySoC)¶ The current battery state of charge of the robot. This value is between 0.0 and 1.0.
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std::optional<double>
battery_soc
() const¶
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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.
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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.
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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.
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