Fawkes API
Fawkes Development Version
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23 #ifndef _NAVGRAPH_CONSTRAINTS_STATIC_LIST_EDGE_CONSTRAINT_H_
24 #define _NAVGRAPH_CONSTRAINTS_STATIC_LIST_EDGE_CONSTRAINT_H_
26 #include <navgraph/constraints/edge_constraint.h>
27 #include <navgraph/navgraph.h>
34 class NavGraphStaticListEdgeConstraint :
public NavGraphEdgeConstraint
43 const std::vector<fawkes::NavGraphEdge> &
edge_list()
const;
46 void add_edges(
const std::vector<fawkes::NavGraphEdge> &edges);
51 virtual bool compute(
void)
throw();
56 std::vector<fawkes::NavGraphEdge> edge_list_;
void add_edge(const fawkes::NavGraphEdge &edge)
Add a single edge to constraint list.
virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to)
void clear_edges()
Remove all edges.
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
void add_edges(const std::vector< fawkes::NavGraphEdge > &edges)
Add multiple edges to constraint list.
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.
virtual ~NavGraphStaticListEdgeConstraint()
Virtual empty destructor.
NavGraphStaticListEdgeConstraint(std::string name)
Constructor.
std::string name()
Get name of constraint.
const std::vector< fawkes::NavGraphEdge > & edge_list() const
Get list of blocked edges.