TaskPlanner constructor to have planner id as first argument

Signed-off-by: Aaron Chong <[email protected]>

rmf_task/include/rmf_task/TaskPlanner.hpp

@@ -200,20 +200,20 @@ class TaskPlanner
 
   /// Constructor
   ///
+  /// \param[in] planner_id
+  ///   Identifier of this task planner, to be used for booking automated
+  ///   requests.
+  ///
   /// \param[in] configuration
-  ///   The configuration for the planner
+  ///   The configuration for the planner.
   ///
   /// \param[in] default_options
   ///   Default options for the task planner to use when solving for assignments.
   ///   These options can be overriden each time a plan is requested.
-  ///
-  /// \param[in] task_planner_name
-  ///   Identifier of this task planner, to be used for booking automated
-  ///   requests.
   TaskPlanner(
+    const std::string& planner_id,
     Configuration configuration,
-    Options default_options,
-    const std::string& task_planner_name);
+    Options default_options);
 
   /// Get a const reference to configuration of this task planner
   const Configuration& configuration() const;

rmf_task/src/rmf_task/TaskPlanner.cpp

@@ -373,7 +373,7 @@ class TaskPlanner::Implementation
   Configuration config;
   Options default_options;
   ConstTravelEstimatorPtr travel_estimator;
-  std::string task_planner_name;
+  std::string planner_id;
   bool check_priority = false;
   ConstCostCalculatorPtr cost_calculator = nullptr;
 
@@ -385,7 +385,7 @@ class TaskPlanner::Implementation
   {
     return rmf_task::requests::ChargeBattery::make(
       start_time,
-      task_planner_name,
+      planner_id,
       time_now,
       nullptr,
       true);
@@ -643,7 +643,7 @@ class TaskPlanner::Implementation
         config.parameters(),
         request,
         *travel_estimator,
-        task_planner_name,
+        planner_id,
         error);
 
       if (!pending_task)
@@ -1120,15 +1120,15 @@ TaskPlanner::TaskPlanner(
 
 // ============================================================================
 TaskPlanner::TaskPlanner(
+  const std::string& planner_id,
   Configuration configuration,
-  Options default_options,
-  const std::string& task_planner_name)
+  Options default_options)
 : _pimpl(rmf_utils::make_impl<Implementation>(
       Implementation{
         configuration,
         default_options,
         std::make_shared<TravelEstimator>(configuration.parameters()),
-        task_planner_name
+        planner_id
       }))
 {
   // Do nothing