Fawkes API Fawkes Development Version
static_list_edge_constraint.h
1/***************************************************************************
2 * static_list_edge_constraint.h - edge constraint that holds a static list
3 * of edges to block
4 *
5 * Created: Sat Jul 12 16:46:50 2014
6 * Copyright 2014 Sebastian Reuter
7 * 2014 Tim Niemueller
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#ifndef _NAVGRAPH_CONSTRAINTS_STATIC_LIST_EDGE_CONSTRAINT_H_
24#define _NAVGRAPH_CONSTRAINTS_STATIC_LIST_EDGE_CONSTRAINT_H_
25
26#include <navgraph/constraints/edge_constraint.h>
27#include <navgraph/navgraph.h>
28
29#include <string>
30#include <vector>
31
32namespace fawkes {
33
35{
36public:
38
39 NavGraphStaticListEdgeConstraint(std::string name, std::vector<fawkes::NavGraphEdge> &edge_list);
40
42
43 const std::vector<fawkes::NavGraphEdge> &edge_list() const;
44
45 void add_edge(const fawkes::NavGraphEdge &edge);
46 void add_edges(const std::vector<fawkes::NavGraphEdge> &edges);
47 void remove_edge(const fawkes::NavGraphEdge &edge);
48 void clear_edges();
49 bool has_edge(const fawkes::NavGraphEdge &edge);
50
51 virtual bool compute(void) noexcept;
52
53 virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to) noexcept;
54
55private:
56 std::vector<fawkes::NavGraphEdge> edge_list_;
57 bool modified_;
58};
59
60} // end namespace fawkes
61
62#endif
Constraint that can be queried to check if an edge is blocked.
std::string name()
Get name of constraint.
Topological graph edge.
Definition: navgraph_edge.h:38
Topological graph node.
Definition: navgraph_node.h:36
Constraint that holds a list of edges to block.
void add_edges(const std::vector< fawkes::NavGraphEdge > &edges)
Add multiple edges to constraint list.
void add_edge(const fawkes::NavGraphEdge &edge)
Add a single edge to constraint list.
NavGraphStaticListEdgeConstraint(std::string name)
Constructor.
virtual bool compute(void) noexcept
Perform compuations before graph search and to indicate re-planning.
void remove_edge(const fawkes::NavGraphEdge &edge)
Remove a single edge from the constraint list.
bool has_edge(const fawkes::NavGraphEdge &edge)
Check if constraint has a specific edge.
const std::vector< fawkes::NavGraphEdge > & edge_list() const
Get list of blocked edges.
virtual ~NavGraphStaticListEdgeConstraint()
Virtual empty destructor.
virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to) noexcept
Check if constraint blocks an edge.
Fawkes library namespace.