Class ChargeBattery

Nested Relationships

Nested Types

Class Documentation

class rmf_task::requests::ChargeBattery

A class that generates a Request which requires an AGV to return to its desginated charging_waypoint as specified in its agv::State and wait till its battery charges up to the recharge_soc confugred in agv::Constraints

Public Static Functions

static ConstRequestPtr make(rmf_traffic::Time earliest_start_time, ConstPriorityPtr priority = nullptr, bool automatic = true)

Generate a chargebattery request

Parameters

  • [in] earliest_start_time: The desired start time for this request

  • [in] priority: The priority for this request

  • [in] automatic: True if this request is auto-generated

class Description : public rmf_task::Task::Description

Public Functions

virtual Task::ConstModelPtr make_model(rmf_traffic::Time earliest_start_time, const Parameters &parameters) const final

Generate a Model for the task based on the unique traits of this description

Parameters

  • [in] earliest_start_time: The earliest time this task should begin execution. This is usually the requested start time for the task.

  • [in] parameters: The parameters that describe this AGV

virtual Info generate_info(const State &initial_state, const Parameters &parameters) const final

Generate a plain text info description for the task, given the predicted initial state and the task planning parameters.

Parameters

  • [in] initial_state: The predicted initial state for the task

  • [in] parameters: The task planning parameters

Public Static Functions

static Task::ConstDescriptionPtr make()

Generate the description for this request.