Class Lane::Node¶
Defined in File Graph.hpp
Nested Relationships¶
This class is a nested type of Class Graph::Lane.
Class Documentation¶
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class
rmf_traffic::agv::Graph::Lane
::
Node
A Lane Node wraps up a Waypoint with constraints. The constraints stipulate the conditions for entering or exiting the lane to reach this waypoint.
Public Functions
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Node
(std::size_t waypoint_index, rmf_utils::clone_ptr<Event> event = nullptr, rmf_utils::clone_ptr<OrientationConstraint> orientation = nullptr) Constructor
- Parameters
waypoint_index
: The index of the waypoint for this Nodeevent
: An event that must happen before/after this Node is approached (before if it’s an entry Node or after if it’s an exit Node).orientation
: Any orientation constraints for moving to/from this Node (depending on whether it’s an entry Node or an exit Node).
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Node
(std::size_t waypoint_index, rmf_utils::clone_ptr<OrientationConstraint> orientation) Constructor. The event parameter will be nullptr.
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std::size_t
waypoint_index
() const Get the index of the waypoint that this Node is wrapped around.
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const Event *
event
() const Get a reference to an event that must occur before or after this Node is visited.
- Note
Before if this is an entry node or after if this is an exit node
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Node &
event
(rmf_utils::clone_ptr<Event> new_event) Set the event that must occur before or after this Node is visited.
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const OrientationConstraint *
orientation_constraint
() const Get the constraint on orientation that is tied to this Node.
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