21#ifndef _NAVGRAPH_CLUSTERS_CLUSTERS_BLOCK_CONSTRAINT_H_
22#define _NAVGRAPH_CLUSTERS_CLUSTERS_BLOCK_CONSTRAINT_H_
24#include <navgraph/constraints/edge_constraint.h>
37 virtual bool compute(
void)
noexcept;
42 std::list<std::pair<std::string, std::string>> blocked_;
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.