Class Planner::Start

Nested Relationships

This class is a nested type of Class Planner.

Class Documentation

class rmf_traffic::agv::Planner::Start

Describe the starting conditions of a plan.

Public Functions

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.

Start &time(Time initial_time)

Set the starting time of a plan.

Time time() const

Get the starting time.

Start &waypoint(std::size_t initial_waypoint)

Set the starting waypoint of a plan.

std::size_t waypoint() const

Get the starting waypoint.

Start &orientation(double initial_orientation)

Set the starting orientation of a plan.

double orientation() const

Get the starting orientation.

const std::optional<Eigen::Vector2d> &location() const

Get the starting location, if one was specified.

Start &location(std::optional<Eigen::Vector2d> initial_location)

Set the starting location, or remove it by using std::nullopt.

const std::optional<std::size_t> &lane() const

Get the starting lane, if one was specified.

Start &lane(std::optional<std::size_t> initial_lane)

Set the starting lane, or remove it by using std::nullopt.