Class Delivery¶
Defined in File Delivery.hpp
Nested Relationships¶
Nested Types¶
Class Documentation¶
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class
rmf_task::requests
::
Delivery
¶ A class that generates a Request which requires an AGV to pickup items from one location and deliver them to another
Public Static Functions
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static ConstRequestPtr
make
(std::size_t pickup_waypoint, rmf_traffic::Duration pickup_wait, std::size_t dropoff_waypoint, rmf_traffic::Duration dropoff_wait, Payload payload, const std::string &id, rmf_traffic::Time earliest_start_time, ConstPriorityPtr priority = nullptr, bool automatic = false, std::string pickup_from_dispenser = "", std::string dropoff_to_ingestor = "")¶ Generate a delivery request
- Parameters
[in] pickup_waypoint
: The graph index for the pickup location[in] pickup_wait
: The expected duration the AGV has to wait at the pickup location for the items to be loaded[in] dropoff_waypoint
: The graph index for the dropoff location[in] dropoff_wait
: The expected duration the AGV has to wait at the dropoff location for the items to be unloaded[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
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class
Description
: public rmf_task::Task::Description¶ Public Types
-
using
Start
= rmf_traffic::agv::Planner::Start¶
Public Functions
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virtual Task::ConstModelPtr
make_model
(rmf_traffic::Time earliest_start_time, const Parameters ¶meters) 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
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virtual Info
generate_info
(const State &initial_state, const Parameters ¶meters) 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
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std::size_t
pickup_waypoint
() const¶ Get the pickup waypoint in this request.
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std::string
pickup_from_dispenser
() const¶ Get the name of the dispenser that we’re picking up from.
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rmf_traffic::Duration
pickup_wait
() const¶ Get the duration over which delivery items are loaded.
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std::size_t
dropoff_waypoint
() const¶ Get the dropoff waypoint in this request.
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std::string
dropoff_to_ingestor
() const¶ Get the name of the ingestor that we’re dropping off to.
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rmf_traffic::Duration
dropoff_wait
() const¶ Get the duration over which delivery items are unloaded.
Public Static Functions
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static Task::ConstDescriptionPtr
make
(std::size_t pickup_waypoint, rmf_traffic::Duration pickup_duration, std::size_t dropoff_waypoint, rmf_traffic::Duration dropoff_duration, Payload payload, std::string pickup_from_dispenser = "", std::string dropoff_to_ingestor = "")¶ Generate the description for this request.
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using
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static ConstRequestPtr