Fawkes API Fawkes Development Version
edge_cost_constraint.h
1/***************************************************************************
2 * edge_cost_constraint.h - base class for edge cost constraints
3 *
4 * Created: Fri Jul 18 12:08:41 2014
5 * Copyright 2014 Tim Niemueller
6 ****************************************************************************/
7
8/* This program is free software; you can redistribute it and/or modify
9 * it under the terms of the GNU General Public License as published by
10 * the Free Software Foundation; either version 2 of the License, or
11 * (at your option) any later version.
12 *
13 * This program is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 * GNU Library General Public License for more details.
17 *
18 * Read the full text in the LICENSE.GPL file in the doc directory.
19 */
20
21#ifndef _NAVGRAPH_CONSTRAINTS_EDGE_COST_CONSTRAINT_H_
22#define _NAVGRAPH_CONSTRAINTS_EDGE_COST_CONSTRAINT_H_
23
24#include <navgraph/navgraph_node.h>
25
26#include <string>
27#include <vector>
28
29namespace fawkes {
30
31class Logger;
32
34{
35public:
36 NavGraphEdgeCostConstraint(std::string &name);
39
40 std::string name();
41
42 virtual bool compute(void) noexcept;
43 virtual float cost_factor(const fawkes::NavGraphNode &from,
44 const fawkes::NavGraphNode &to) noexcept = 0;
45
46 bool operator==(const std::string &name) const;
47
48protected:
49 std::string name_;
50};
51
52} // end namespace fawkes
53
54#endif
Constraint that can be queried for an edge cost factor.
std::string name()
Get name of constraint.
virtual bool compute(void) noexcept
Perform compuations before graph search and to indicate re-planning.
virtual float cost_factor(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to) noexcept=0
Get cost factor for given edge.
NavGraphEdgeCostConstraint(std::string &name)
Constructor.
bool operator==(const std::string &name) const
Check if constraint matches name.
std::string name_
Name of constraint.
virtual ~NavGraphEdgeCostConstraint()
Virtual empty destructor.
Topological graph node.
Definition: navgraph_node.h:36
Fawkes library namespace.