Fawkes API Fawkes Development Version
clusters_static_cost_constraint.h
1/***************************************************************************
2 * clusters_static_cost_constraint.h - static cost factor for blocked edges
3 *
4 * Created: Fri Jul 18 22:36:37 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#ifndef _NAVGRAPH_CLUSTERS_CLUSTERS_STATIC_COST_CONSTRAINT_H_
22#define _NAVGRAPH_CLUSTERS_CLUSTERS_STATIC_COST_CONSTRAINT_H_
23
24#include <navgraph/constraints/edge_cost_constraint.h>
25
26#include <list>
27#include <string>
28
30
32{
33public:
36 float cost_factor);
38
39 virtual bool compute(void) noexcept;
40 virtual float cost_factor(const fawkes::NavGraphNode &from,
41 const fawkes::NavGraphNode &to) noexcept;
42
43private:
44 NavGraphClustersThread * parent_;
45 float cost_factor_;
46 std::list<std::pair<std::string, std::string>> blocked_;
47};
48
49#endif
Constraint apply a static cost factor to blocked edges.
virtual bool compute(void) noexcept
Perform compuations before graph search and to indicate re-planning.
virtual ~NavGraphClustersStaticCostConstraint()
Virtual empty destructor.
NavGraphClustersStaticCostConstraint(const char *name, NavGraphClustersThread *parent, float cost_factor)
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.
Topological graph node.
Definition: navgraph_node.h:36