Class Planner::Start¶
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
::
Start
Describe the starting conditions of a plan.
Public Functions
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Start
(Time initial_time, std::size_t initial_waypoint, double initial_orientation, std::optional<Eigen::Vector2d> location = std::nullopt, std::optional<std::size_t> initial_lane = std::nullopt) Constructor
- Parameters
[in] inital_time
: The starting time of the plan.[in] initial_waypoint
: The waypoint index that the plan will begin from.[in] initial_orientation
: The orientation that the AGV will start with.[in] initial_location
: Optional field to specify if the robot is not starting directly on the initial_waypoint location. When planning from this initial_location to the initial_waypoint the planner will assume it has an unconstrained lane.[in] initial_lane
: Optional field to specify if the robot is starting in a certain lane. This will only be used if an initial_location is specified.
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Time
time
() const Get the starting time.
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Start &
waypoint
(std::size_t initial_waypoint) Set the starting waypoint of a plan.
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std::size_t
waypoint
() const Get the starting waypoint.
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Start &
orientation
(double initial_orientation) Set the starting orientation of a plan.
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double
orientation
() const Get the starting orientation.
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const std::optional<Eigen::Vector2d> &
location
() const Get the starting location, if one was specified.
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Start &
location
(std::optional<Eigen::Vector2d> initial_location) Set the starting location, or remove it by using std::nullopt.
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const std::optional<std::size_t> &
lane
() const Get the starting lane, if one was specified.
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Start &
lane
(std::optional<std::size_t> initial_lane) Set the starting lane, or remove it by using std::nullopt.
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