Fawkes API Fawkes Development Version
clusters_block_constraint.h
1/***************************************************************************
2 * clusters_block_constraint.h - block edges close to clusters
3 *
4 * Created: Fri Jul 18 21:52:40 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_CLUSTERS_CLUSTERS_BLOCK_CONSTRAINT_H_
22#define _NAVGRAPH_CLUSTERS_CLUSTERS_BLOCK_CONSTRAINT_H_
23
24#include <navgraph/constraints/edge_constraint.h>
25
26#include <list>
27#include <string>
28
30
32{
33public:
36
37 virtual bool compute(void) noexcept;
38 virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to) noexcept;
39
40private:
41 NavGraphClustersThread * parent_;
42 std::list<std::pair<std::string, std::string>> blocked_;
43};
44
45#endif
Constraint to block edges close to clusters.
NavGraphClustersBlockConstraint(const char *name, NavGraphClustersThread *parent)
Constructor.
virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to) noexcept
Check if constraint blocks an edge.
virtual bool compute(void) noexcept
Perform compuations before graph search and to indicate re-planning.
virtual ~NavGraphClustersBlockConstraint()
Virtual empty destructor.
Block navgraph paths based on laser clusters.
Constraint that can be queried to check if an edge is blocked.
std::string name()
Get name of constraint.
Topological graph node.
Definition: navgraph_node.h:36