Class Participant

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.

double radius() const

Get the radius that’s being used for this participant.

void set(std::vector<Writer::Checkpoint> path)

Set the path for this participant.

Parameters

  • [in] path: The path that this participant intends to follow.

const std::vector<Writer::Checkpoint> &path() const

Get the current path for this participant.

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.

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.

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.