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Allow task planner to append a finishing task when robot goes idle (#28)
Signed-off-by: Yadunund <[email protected]>
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/* | ||
* Copyright (C) 2021 Open Source Robotics Foundation | ||
* | ||
* Licensed under the Apache License, Version 2.0 (the "License"); | ||
* you may not use this file except in compliance with the License. | ||
* You may obtain a copy of the License at | ||
* | ||
* http://www.apache.org/licenses/LICENSE-2.0 | ||
* | ||
* Unless required by applicable law or agreed to in writing, software | ||
* distributed under the License is distributed on an "AS IS" BASIS, | ||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
* See the License for the specific language governing permissions and | ||
* limitations under the License. | ||
* | ||
*/ | ||
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#ifndef RMF_TASK__REQUESTFACTORY_HPP | ||
#define RMF_TASK__REQUESTFACTORY_HPP | ||
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#include <rmf_task/Request.hpp> | ||
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namespace rmf_task { | ||
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//============================================================================== | ||
/// An abstract interface for generating a tailored request for an AGV given | ||
class RequestFactory | ||
{ | ||
public: | ||
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/// Generate a request for the AGV given the state that the robot will have | ||
/// when it is ready to perform the request | ||
virtual ConstRequestPtr make_request( | ||
const agv::State& state) const = 0; | ||
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virtual ~RequestFactory() = default; | ||
}; | ||
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using RequestFactoryPtr = std::shared_ptr<RequestFactory>; | ||
using ConstRequestFactoryPtr = std::shared_ptr<const RequestFactory>; | ||
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} // namespace rmf_task | ||
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#endif // RMF_TASK__REQUESTFACTORY_HPP |
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