Customizable weights for task assignment cost

[kjchee]

New feature implementation

Implemented feature

This PR is to support the new feature proposed at PR in rmf_task open-rmf/rmf_task#129

Implementation description

A new parameter in fleet_config.yaml (task_assignment_strategy) is read and passed to EasyFullControl and to FleetUpdateHandle and finally to TaskPlanner.

Also, for context, there are new functions added in rmf_task::State in rmf_task:

bool is_idle() const;
State& idle(bool is_idle);

purpose is to reflect whether the robot is in idle state, and so it can be set in TaskManager.cpp TaskManager::expected_finish_state(). Then this idle state will be stored in initial_states and passed to TaskPlanner via FleetUpdateHandle.cpp.

GenAI Use

We follow OSRA's policy on GenAI tools

• I used a GenAI tool in this PR.
• I did not use GenAI

Generated-by:

[mxgrey]

I think this is good to go. I've opened #501 as a reminder to add python bindings for these new settings, but I don't think that needs to block this PR.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 0.00%. Comparing base (3be4edf) to head (744ae6f).
⚠️ Report is 169 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff            @@
##             main   #466       +/-   ##
=========================================
- Coverage   17.61%      0   -17.62%     
=========================================
  Files         209      0      -209     
  Lines       19351      0    -19351     
  Branches     9297      0     -9297     
=========================================
- Hits         3409      0     -3409     
+ Misses      12274      0    -12274     
+ Partials     3668      0     -3668     

Flag	Coverage Δ
tests	?

Flags with carried forward coverage won't be shown. Click here to find out more.
see 209 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.