22#ifndef _NAVGRAPH_CLUSTERS_CLUSTERS_DISTANCE_COST_CONSTRAINT_H_
23#define _NAVGRAPH_CLUSTERS_CLUSTERS_DISTANCE_COST_CONSTRAINT_H_
25#include <navgraph/constraints/edge_cost_constraint.h>
27#include <Eigen/Geometry>
45 virtual bool compute(
void)
noexcept;
58 std::list<std::tuple<std::string, std::string, Eigen::Vector2f>> blocked_;
59 Eigen::Vector2f pose_;
Constraint apply linearly scaled costs based on the distance.
virtual bool compute(void) noexcept
Perform compuations before graph search and to indicate re-planning.
virtual ~NavGraphClustersDistanceCostConstraint()
Virtual empty destructor.
NavGraphClustersDistanceCostConstraint(const char *name, NavGraphClustersThread *parent, float cost_min, float cost_max, float dist_min, float dist_max)
Constructor.
virtual float cost_factor(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to) noexcept
Get cost factor for given edge.
Block navgraph paths based on laser clusters.
Constraint that can be queried for an edge cost factor.
std::string name()
Get name of constraint.