Class Clean

Nested Relationships

Nested Types

Class Documentation

class rmf_task::requests::Clean

A class that generates a Request which requires an AGV to perform a cleaning operation at a location

Public Static Functions

static ConstRequestPtr make(std::size_t start_waypoint, std::size_t end_waypoint, const rmf_traffic::Trajectory &cleaning_path, const std::string &id, rmf_traffic::Time earliest_start_time, ConstPriorityPtr priority = nullptr, bool automatic = false)

Generate a clean request

Parameters

  • [in] start_waypoint: The graph index for the location where the AGV should begin its cleaning operation

  • [in] end_waypoint: The graph index for the location where the AGV ends up after its cleaning operation

  • [in] cleaning_path: A trajectory that describes the motion of the AGV during the cleaning operation. This is used to determine the process duration and expected battery drain

  • [in] id: A unique id for this request

  • [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

std::size_t start_waypoint() const

Get the start waypoint in this request.

std::size_t end_waypoint() const

Get the end waypoint in this request.

Public Static Functions

static std::shared_ptr<Description> make(std::size_t start_waypoint, std::size_t end_waypoint, const rmf_traffic::Trajectory &cleaning_path)

Generate the description for this request.