Fawkes API Fawkes Development Version
execution_time_estimator_navgraph_thread.cpp
1/***************************************************************************
2 * execution_time_estimator_navgraph_thread.cpp - Skill exec times from navgraph
3 *
4 * Created: Tue 07 Jan 2020 16:02:38 CET 16:02
5 * Copyright 2020 Till Hofmann <hofmann@kbsg.rwth-aachen.de>
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 "execution_time_estimator_navgraph_thread.h"
22
23#include "navgraph_estimator.h"
24
25#include <interfaces/Position3DInterface.h>
26
27/** @class ExecutionTimeEstimatorNavgraphThread
28 * Get estimates for skill execution times from the navgraph.
29 */
30
31constexpr char ExecutionTimeEstimatorNavgraphThread::cfg_prefix_[];
32
33/** Constructor. */
35: Thread("ExecutionTimeEstimatorNavgraphThread", Thread::OPMODE_WAITFORWAKEUP)
36{
37}
38
39/** Register the estimator. */
40void
42{
43 estimator_ = std::make_shared<fawkes::NavGraphEstimator>(navgraph, config, cfg_prefix_);
45 estimator_, config->get_int_or_default((std::string{cfg_prefix_} + "priority").c_str(), 0));
46}
47
48/** Unregister the estimator. */
49void
51{
53}
Configuration * config
This is the Configuration member used to access the configuration.
Definition: configurable.h:41
virtual int get_int_or_default(const char *path, const int &default_val)
Get value from configuration which is of type int, or the given default if the path does not exist.
Definition: config.cpp:716
void register_provider(std::shared_ptr< ExecutionTimeEstimator > provider, int priority=0)
Add an execution time provider.
void unregister_provider(std::shared_ptr< ExecutionTimeEstimator > provider)
Remove an execution time estimate provider.
ExecutionTimeEstimatorManager * execution_time_estimator_manager_
The ExecutionTimeEstimatorManager that is used to manage the estimators.
fawkes::LockPtr< NavGraph > navgraph
NavGraph instance shared in framework.
Definition: navgraph.h:44