Fawkes API Fawkes Development Version
clusters_block_constraint.cpp
1/***************************************************************************
2 * clusters_block_constraint.h - block edges close to clusters
3 *
4 * Created: Fri Jul 18 21:55:25 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#include "clusters_block_constraint.h"
22
23#include "navgraph_clusters_thread.h"
24
25/** @class NavGraphClustersBlockConstraint "clusters_block_constraint.h"
26 * Constraint to block edges close to clusters.
27 * @author Tim Niemueller
28 */
29
30/** Constructor.
31 * @param name constraint name
32 * @param parent parent to call for blocked edges
33 */
36: NavGraphEdgeConstraint(name)
37{
38 parent_ = parent;
39}
40
41/** Virtual empty destructor. */
43{
44}
45
46bool
48{
49 blocked_ = parent_->blocked_edges();
50 return true;
51}
52
53bool
55 const fawkes::NavGraphNode &to) noexcept
56{
57 std::string to_n = to.name();
58 std::string from_n = from.name();
59 return ((find(blocked_.begin(), blocked_.end(), make_pair(from_n, to_n)) != blocked_.end())
60 || (find(blocked_.begin(), blocked_.end(), make_pair(to_n, from_n)) != blocked_.end()));
61}
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.
Topological graph node.
Definition: navgraph_node.h:36