Fawkes API Fawkes Development Version
timed_reservation_list_node_constraint.h
1/***************************************************************************
2 * timed_reservation_list_node_constraint.h - node constraint that holds a static
3 * list of nodes and a duration to block
4 *
5 * Created: Sat Jul 12 16:48:23 2014
6 * Copyright 2014 Sebastian Reuter
7 * 2014 Tim Niemueller
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#ifndef _NAVGRAPH_CONSTRAINTS_TIMED_RESERVATION_LIST_NODE_CONSTRAINT_H_
24#define _NAVGRAPH_CONSTRAINTS_TIMED_RESERVATION_LIST_NODE_CONSTRAINT_H_
25
26#include <logging/logger.h>
27#include <navgraph/constraints/static_list_node_constraint.h>
28#include <navgraph/navgraph.h>
29#include <utils/time/time.h>
30
31#include <string>
32#include <vector>
33
34namespace fawkes {
35
37{
38public:
40 std::string constraint_name,
41 fawkes::Clock *clock);
42
44 Logger * logger,
45 std::string constraint_name,
46 fawkes::Clock * clock,
47 std::vector<std::pair<fawkes::NavGraphNode, fawkes::Time>> node_time_list);
48
50
51 const std::vector<std::pair<fawkes::NavGraphNode, fawkes::Time>> &node_time_list() const;
52
53 void add_node(const fawkes::NavGraphNode &node, const fawkes::Time valid_time);
54 void add_nodes(const std::vector<std::pair<fawkes::NavGraphNode, fawkes::Time>> &timed_nodes);
55 void remove_node(const fawkes::NavGraphNode &node);
56 void clear_nodes();
57 bool has_node(const fawkes::NavGraphNode &node);
58
59 virtual bool compute(void) noexcept;
60 virtual bool blocks(const fawkes::NavGraphNode &node) noexcept;
61
62private:
63 std::vector<std::pair<fawkes::NavGraphNode, fawkes::Time>> node_time_list_;
64 bool modified_;
65 Logger * logger_;
66 fawkes::Clock * clock_;
67 std::string constraint_name_;
68};
69
70} // end namespace fawkes
71
72#endif
This is supposed to be the central clock in Fawkes.
Definition: clock.h:35
Interface for logging.
Definition: logger.h:42
Constraint that can be queried to check if a node is blocked.
Topological graph node.
Definition: navgraph_node.h:36
Constraint that holds a list of nodes to block with timeouts.
virtual bool compute(void) noexcept
Perform compuations before graph search and to indicate re-planning.
void add_nodes(const std::vector< std::pair< fawkes::NavGraphNode, fawkes::Time > > &timed_nodes)
Add multiple nodes to constraint list.
void remove_node(const fawkes::NavGraphNode &node)
Remove a single node from the constraint list.
NavGraphTimedReservationListNodeConstraint(Logger *logger, std::string constraint_name, fawkes::Clock *clock)
Constructor.
void add_node(const fawkes::NavGraphNode &node, const fawkes::Time valid_time)
Add a single node to constraint list.
virtual bool blocks(const fawkes::NavGraphNode &node) noexcept
Check if constraint blocks a node.
const std::vector< std::pair< fawkes::NavGraphNode, fawkes::Time > > & node_time_list() const
Get list of blocked nodes.
bool has_node(const fawkes::NavGraphNode &node)
Check if constraint has a specific node.
A class for handling time.
Definition: time.h:93
Fawkes library namespace.