Class Planner::Goal¶
Defined in File Planner.hpp
Nested Relationships¶
This class is a nested type of Class Planner.
Class Documentation¶
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class
rmf_traffic::agv::Planner
::
Goal
Describe the goal conditions of a plan.
Public Functions
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Goal
(std::size_t goal_waypoint) Constructor
- Note
With this constructor, any final orientation will be accepted.
- Parameters
[in] goal_waypoint
: The waypoint that the AGV needs to reach.
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Goal
(std::size_t goal_waypoint, double goal_orientation) Constructor
- Parameters
[in] goal_waypoint
: The waypoint that the AGV needs to reach.[in] goal_orientation
: The orientation that the AGV needs to end with.
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Goal
(std::size_t goal_waypoint, std::optional<rmf_traffic::Time> minimum_time, std::optional<double> goal_orientation = std::nullopt) Constructor
- Parameters
[in] goal_waypoint
: The waypoint that the AGV needs to reach.[in] minimum_time
: The AGV must be on the goal waypoint at or after this time for the plan to be successful. This is useful if a robot needs to wait at a location, but you want it to give way for other robots.[in] goal_orientation
: An optional goal orientation that the AGV needs to end with.
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Goal &
waypoint
(std::size_t goal_waypoint) Set the goal waypoint.
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std::size_t
waypoint
() const Get the goal waypoint.
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Goal &
orientation
(double goal_orientation) Set the goal orientation.
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Goal &
any_orientation
() Accept any orientation for the final goal.
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const double *
orientation
() const Get a reference to the goal orientation (or a nullptr if any orientation is acceptable).
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Goal &
minimum_time
(std::optional<rmf_traffic::Time> value) Set the minimum time for the goal. Pass in a nullopt to remove the minimum time.
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std::optional<rmf_traffic::Time>
minimum_time
() const Get the minimum time for the goal (or a nullopt is there is no minimum time).
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