Class Participant¶
Defined in File Participant.hpp
Class Documentation¶
-
class
rmf_traffic::blockade
::
Participant
¶ Public Functions
-
void
radius
(double new_radius)¶ Change the radius for this participant. This will only take effect when a new path is set using the set() function.
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double
radius
() const¶ Get the radius that’s being used for this participant.
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void
set
(std::vector<Writer::Checkpoint> path)¶ Set the path for this participant.
- Parameters
[in] path
: The path that this participant intends to follow.
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const std::vector<Writer::Checkpoint> &
path
() const¶ Get the current path for this participant.
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void
ready
(CheckpointId checkpoint)¶ Tell the blockade writer that the participant is ready to depart from the given checkpoint.
-
void
release
(CheckpointId checkpoint)¶ Tell the blockade writer that the participant is releasing its departure from the given checkpoint.
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std::optional<CheckpointId>
last_ready
() const¶ Get the last checkpoint that this participant said it is ready to depart from.
-
void
reached
(CheckpointId checkpoint)¶ Tell the blockade writer that the participant has reached the given checkpoint.
-
void
cancel
()¶ Cancel the current path entirely. Note that if a path is canceled while the robot is in space that it needs to share with other robots, a permanent deadlock could result.
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CheckpointId
last_reached
() const¶ Get the last checkpoint that this participant said it has reached.
-
ParticipantId
id
() const¶ Get the ID that was assigned to this participant.
-
std::optional<ReservationId>
reservation_id
() const¶ Get the current reservation ID.
-
void