MPTask.h

Go to the documentation of this file.

#ifndef PMPL_MP_TASK_TYPE_H_
#define PMPL_MP_TASK_TYPE_H_
 
#include "nonstd/status.h"
 
#include "Utilities/MPUtils.h"
 
#include <memory>
#include <string>
#include <vector>
 
class Boundary;
class Cfg;
class Constraint;
class MPProblem;
class Robot;
class XMLNode;
class Environment;
 
 
class MPTask final {
 
  public:
 
 
    typedef std::vector<std::unique_ptr<Constraint>> ConstraintSet;
 
 
    explicit MPTask(Robot* const _robot);
 
    explicit MPTask(MPProblem* const _problem, XMLNode& _node, Environment* _env = nullptr);
 
    MPTask(const MPTask& _other);  
    MPTask(MPTask&& _other);       
 
    ~MPTask();
 
 
    MPTask& operator=(const MPTask& _other); 
    MPTask& operator=(MPTask&& _other);      
 
 
    Robot* GetRobot() const noexcept;
 
    void SetRobot(Robot* const _r);
 
    const std::string& GetLabel() const noexcept;
 
    void SetLabel(const std::string& _label) noexcept;
 
    nonstd::status& GetStatus() noexcept;
    const nonstd::status& GetStatus() const noexcept;
 
    bool Empty() const noexcept;
 
    size_t GetNumGoals() const noexcept;
 
 
    void SetStartConstraint(std::unique_ptr<Constraint>&& _c);
 
    void AddPathConstraint(std::unique_ptr<Constraint>&& _c);
 
    void AddGoalConstraint(std::unique_ptr<Constraint>&& _c);
 
    const Constraint* GetStartConstraint() const noexcept;
    const ConstraintSet& GetPathConstraints() const noexcept;
    const ConstraintSet& GetGoalConstraints() const noexcept;
 
    void ClearGoalConstraints();
 
    void SetCapability(const std::string& _capability);
 
    const std::string& GetCapability() const noexcept;
 
 
    void SetEstimatedStartTime(const double _time) noexcept;
    void SetEstimatedCompletionTime(const double _time) noexcept;
 
    double GetEstimatedStartTime() const noexcept;
    double GetEstimatedCompletionTime() const noexcept;
 
        void SetReleaseWindow(const std::pair<double,double> _release) noexcept;
        void SetDeadlineWindow(const std::pair<double,double> _deadline) noexcept;
 
        std::pair<double,double> GetReleaseWindow() const noexcept;
        std::pair<double,double> GetDeadlineWindow() const noexcept;
 
 
    bool EvaluateCapability(const Robot* const _r) const;
 
    bool EvaluateStartConstraints(const Cfg& _cfg) const;
 
    bool EvaluatePathConstraints(const Cfg& _cfg) const;
 
    bool EvaluateGoalConstraints(const Cfg& _cfg) const;
 
    bool EvaluateGoalConstraints(const Cfg& _cfg, const size_t _index) const;
 
 
  private:
 
 
    Robot* m_robot{nullptr};     
 
    std::string m_label;         
    nonstd::status m_status;     
 
    std::unique_ptr<Constraint> m_startConstraint; 
    ConstraintSet m_pathConstraints;               
    ConstraintSet m_goalConstraints;               
    std::string m_capability;    
 
    double m_startTime{0};   
    double m_finishTime{0};  
 
        std::pair<double,double> m_releaseWindow;
 
        std::pair<double,double> m_deadlineWindow;
 
};
 
#endif