Class Delivery::Description

Nested Relationships

This class is a nested type of Class Delivery.

Inheritance Relationships

Base Type

Class Documentation

class rmf_task::requests::Delivery::Description : public rmf_task::Task::Description

Public Types

using Start = rmf_traffic::agv::Planner::Start

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 pickup_waypoint() const

Get the pickup waypoint in this request.

std::string pickup_from_dispenser() const

Get the name of the dispenser that we’re picking up from.

rmf_traffic::Duration pickup_wait() const

Get the duration over which delivery items are loaded.

std::size_t dropoff_waypoint() const

Get the dropoff waypoint in this request.

std::string dropoff_to_ingestor() const

Get the name of the ingestor that we’re dropping off to.

rmf_traffic::Duration dropoff_wait() const

Get the duration over which delivery items are unloaded.

const Payload &payload() const

Get the payload that is being delivered.

Public Static Functions

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.