EasyFullControl

rmf_fleet_adapter/include/rmf_fleet_adapter/agv/FleetUpdateHandle.hpp

@@ -380,6 +380,8 @@ class FleetUpdateHandle : public std::enable_shared_from_this<FleetUpdateHandle>
 using FleetUpdateHandlePtr = std::shared_ptr<FleetUpdateHandle>;
 using ConstFleetUpdateHandlePtr = std::shared_ptr<const FleetUpdateHandle>;
 
+FleetUpdateHandle::ConsiderRequest consider_all();
+
 } // namespace agv
 } // namespace rmf_fleet_adapter
 

rmf_fleet_adapter/include/rmf_fleet_adapter/agv/RobotUpdateHandle.hpp

@@ -130,7 +130,8 @@ class RobotUpdateHandle
   class ActionExecution
   {
   public:
-    /// Update the amount of time remaining for this action
+    /// Update the amount of time remaining for this action.
+    /// This does not need to be used for navigation requests.
     void update_remaining_time(rmf_traffic::Duration remaining_time_estimate);
 
     /// Set task status to underway and optionally log a message (info tier)
@@ -147,7 +148,20 @@ class RobotUpdateHandle
     /// (warning tier)
     void blocked(std::optional<std::string> text);
 
-    /// Trigger this when the action is successfully finished
+    /// Trigger this when you require a replan for your navigation or
+    /// docking request
+    void replan(bool request_replan);
+
+    /// Override the schedule to say that the robot will be following a certain
+    /// trajectory. This should not be used while tasks with automatic schedule
+    /// updating are running, or else the traffic schedule will have jumbled up
+    /// information, which can be disruptive to the overall traffic management.
+    void override_schedule(std::string map_name,
+      rmf_traffic::Trajectory trajectory);
+
+    /// Trigger this when the action is successfully finished.
+    /// No other functions in this ActionExecution instance will
+    /// be usable after this.
     void finished();
 
     /// Returns false if the Action has been killed or cancelled

rmf_fleet_adapter/include/rmf_fleet_adapter/agv/Transformation.hpp

@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2023 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.
+ *
+*/
+
+#ifndef RMF_FLEET_ADAPTER__AGV__TRANSFORMATION_HPP
+#define RMF_FLEET_ADAPTER__AGV__TRANSFORMATION_HPP
+
+#include <rmf_utils/impl_ptr.hpp>
+
+#include <Eigen/Geometry>
+
+namespace rmf_fleet_adapter {
+namespace agv {
+
+//==============================================================================
+/// A Transformation object that stores the transformation data needed to
+/// perform transformation between robot and RMF cartesian frames.
+class Transformation
+{
+public:
+
+  /// Constructor
+  ///
+  /// \param[in] rotation
+  ///   The rotation angle (radians) between the two cartesian frames.
+  ///
+  /// \param[in] scale
+  ///   The scaling factor between the cartesian frames.
+  ///
+  /// \param[in] translation
+  ///   The 2D translation from one coordinate to another.
+  Transformation(
+    double rotation,
+    double scale,
+    Eigen::Vector2d translation);
+
+  /// Get the rotation of this Transformation
+  const double rotation() const;
+
+  /// Get the scale of this Transformation
+  const double scale() const;
+
+  /// Get the translation of this Transformation
+  const Eigen::Vector2d& translation() const;
+
+  /// Helper function to transform between RMF and robot coordinate systems.
+  /// Depending on the Transformation defined, this function can be used to
+  /// transform robot coordinate system to RMF's coordinate system or vice versa.
+  const Eigen::Vector3d transform(
+    const Eigen::Vector3d& pose);
+
+  class Implementation;
+private:
+  rmf_utils::impl_ptr<Implementation> _pimpl;
+};
+
+} // namespace agv
+} // namespace rmf_fleet_adapter
+
+#endif // RMF_FLEET_ADAPTER__AGV__TRANSFORMATION_HPP