Class Graph::Waypoint¶
Defined in File Graph.hpp
Nested Relationships¶
This class is a nested type of Class Graph.
Class Documentation¶
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class
rmf_traffic::agv::Graph
::
Waypoint
Public Functions
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const std::string &
get_map_name
() const Get the name of the map that this Waypoint exists on.
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const Eigen::Vector2d &
get_location
() const Get the position of this Waypoint.
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bool
is_holding_point
() const Returns true if this Waypoint can be used as a holding point for the vehicle, otherwise returns false.
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Waypoint &
set_holding_point
(bool _is_holding_point) Set whether this waypoint can be used as a holding point for the vehicle.
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bool
is_passthrough_point
() const Returns true if this Waypoint is a passthrough point, meaning a planner should not have a robot wait at this point, even just briefly to allow another robot to pass. Setting passthrough points reduces the branching factor of a planner, allowing it to run faster, at the cost of losing possible solutions to conflicts.
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bool
is_parking_spot
() const Returns true if this Waypoint is a parking spot. Parking spots are used when an emergency alarm goes off, and the robot is required to park itself.
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bool
is_charger
() const Returns true if this Waypoint is a charger spot. Robots are routed to these spots when their batteries charge levels drop below the threshold value.
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std::size_t
index
() const The index of this waypoint within the Graph. This cannot be changed after the waypoint is created.
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const std::string *
name
() const If this waypoint has a name, return a reference to it. If this waypoint does not have a name, return a nullptr.
The name of a waypoint can only be set using add_key() or set_key().
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std::string
name_or_index
(const std::string &name_format = "%s", const std::string &index_format = "#%d") const If this waypoint has a name, the name will be returned. Otherwise it will return the waypoint index, formatted into a string based on the index_format argument.
- Parameters
[in] name_format
: If this waypoint has an assigned name, the first instance of “%s” within name_format will be replaced with the name of the waypoint. If there is no s in the name_format string, then this function will simply return the name_format string as-is when the waypoint has a name.[in] index_format
: If this waypoint does not have an assigned name, the first instance of “%d” within the index_format string will be replaced with the stringified decimal index value of the waypoint. If there is no “%d” in the index_format string, then this function will simply return the index_format string as-is when the waypoint does not have a name.
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const std::string &