Fawkes API Fawkes Development Version
timed_reservation_list_edge_constraint.h
1/***************************************************************************
2 * timed_reservation_list_edge_constraint.h - edge constraint that holds a static
3 * list of edges and a duration to block
4 *
5 * Created: Sat Jul 12 16:48:23 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_TIMED_RESERVATION_LIST_EDGE_CONSTRAINT_H_
24#define _NAVGRAPH_CONSTRAINTS_TIMED_RESERVATION_LIST_EDGE_CONSTRAINT_H_
25
26#include <logging/logger.h>
27#include <navgraph/constraints/static_list_edge_constraint.h>
28#include <navgraph/navgraph.h>
29#include <utils/time/time.h>
30
31#include <string>
32#include <vector>
33
34namespace fawkes {
35
37{
38public:
40 std::string constraint_name,
41 fawkes::Clock *clock);
42
44 Logger * logger,
45 std::string constraint_name,
46 fawkes::Clock * clock,
47 std::vector<std::pair<fawkes::NavGraphEdge, fawkes::Time>> edge_time_list);
48
50
51 const std::vector<std::pair<fawkes::NavGraphEdge, fawkes::Time>> &edge_time_list() const;
52
53 void add_edge(const fawkes::NavGraphEdge &edge, const fawkes::Time valid_time);
54 void add_edges(const std::vector<std::pair<fawkes::NavGraphEdge, fawkes::Time>> &edges);
55 void remove_edge(const fawkes::NavGraphEdge &edge);
56 void clear_edges();
57 bool has_edge(const fawkes::NavGraphEdge &edge);
58
59 virtual bool compute(void) noexcept;
60 virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to) noexcept;
61
62private:
63 std::vector<std::pair<fawkes::NavGraphEdge, fawkes::Time>> edge_time_list_;
64 bool modified_;
65 Logger * logger_;
66 fawkes::Clock * clock_;
67 std::string constraint_name_;
68};
69
70} // end namespace fawkes
71
72#endif
This is supposed to be the central clock in Fawkes.
Definition: clock.h:35
Interface for logging.
Definition: logger.h:42
Constraint that can be queried to check if an edge is blocked.
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 with timeouts.
bool has_edge(const fawkes::NavGraphEdge &edge)
Check if constraint has a specific edge.
void add_edges(const std::vector< std::pair< fawkes::NavGraphEdge, fawkes::Time > > &edges)
Add multiple edges to constraint list.
void remove_edge(const fawkes::NavGraphEdge &edge)
Remove a single edge from the constraint list.
NavGraphTimedReservationListEdgeConstraint(Logger *logger, std::string constraint_name, fawkes::Clock *clock)
Constructor.
void add_edge(const fawkes::NavGraphEdge &edge, const fawkes::Time valid_time)
Add a single edge to constraint list.
virtual bool compute(void) noexcept
Perform compuations before graph search and to indicate re-planning.
const std::vector< std::pair< fawkes::NavGraphEdge, fawkes::Time > > & edge_time_list() const
Get list of blocked edges.
virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to) noexcept
Check if constraint blocks an edge.
A class for handling time.
Definition: time.h:93
Fawkes library namespace.