Class TaskPlanner::Options¶
Defined in File TaskPlanner.hpp
Nested Relationships¶
This class is a nested type of Class TaskPlanner.
Class Documentation¶
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class
rmf_task::TaskPlanner
::
Options
The Options class contains planning parameters that can change between each planning attempt.
Public Functions
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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
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Options &
greedy
(bool value) Set whether a greedy approach should be used.
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bool
greedy
() const Get whether a greedy approach will be used.
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Options &
interrupter
(std::function<bool()> interrupter) Set an interrupter callback that will indicate to the planner if it should stop trying to plan
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const std::function<bool()> &
interrupter
() const Get the interrupter that will be used in this Options.
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Options &
finishing_request
(ConstRequestFactoryPtr finishing_request) Set the request factory that will generate a finishing task.
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ConstRequestFactoryPtr
finishing_request
() const Get the request factory that will generate a finishing task.
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