Class Loop

Nested Relationships

Nested Types

Class Documentation

class rmf_task::requests::Loop

A class that generates a Request which requires an AGV to repeatedly travel between two locations

Public Static Functions

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

Generate a loop request

Parameters

  • [in] start_waypoint: The graph index for the starting waypoint of the loop

  • [in] finish_waypoint: The graph index for the finishing waypoint of the loop

  • [in] num_loops: The number of times the AGV should loop between the start_waypoint and finish_waypoint

  • [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 of the loop in this request.

std::size_t finish_waypoint() const

Get the finish waypoint of the loop in this request.

std::size_t num_loops() const

Get the numbert of loops in this request.

Public Static Functions

static Task::ConstDescriptionPtr make(std::size_t start_waypoint, std::size_t finish_waypoint, std::size_t num_loops)

Generate the description for this request.