Update GoToPlace to allow finding nearest spot (#308)

Signed-off-by: Arjo Chakravarty <[email protected]> Signed-off-by: Michael X. Grey <[email protected]> Co-authored-by: Michael X. Grey <[email protected]>
open-rmf · Dec 21, 2023 · 74f661a · 74f661a
1 parent d782756
commit 74f661a
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Showing 5 changed files with 257 additions and 48 deletions.
diff --git a/rmf_fleet_adapter/schemas/event_description__go_to_place.json b/rmf_fleet_adapter/schemas/event_description__go_to_place.json
@@ -18,6 +18,38 @@
         }
       },
       "required": ["place"]
+    },
+    {
+      "type": "object",
+      "properties" : {
+        "one_of" : {
+          "type": "array",
+          "description": "A list of places to choose from. Will try to go to the nearest one.",
+          "items": { "$ref": "place.json" },
+          "minItems": 1
+        },
+        "constraints" : {
+          "type": "array",
+          "description": "list of constraints to use",
+          "items": {"$ref": "#/$defs/constraint"}
+        }
+      },
+      "required": ["one_of"]
+    }
+  ],
+  "$defs": {
+    "constraint": {
+      "type": "object",
+      "properties": {
+        "category": {
+          "type": "string",
+          "description": "The type of constraint, e.g. prefer_same_map"
+        },
+        "description": {
+          "description": "A complete description of the constraint"
+        }
+      },
+      "required": ["category"]
     }
-  ]
+  }
 }