21 #include "clusters_static_cost_constraint.h"
23 #include "navgraph_clusters_thread.h"
39 : NavGraphEdgeCostConstraint(name)
53 blocked_ = parent_->blocked_edges();
61 std::string to_n = to.name();
62 std::string from_n = from.name();
63 if ((find(blocked_.begin(), blocked_.end(), make_pair(from_n, to_n)) != blocked_.end())
64 || (find(blocked_.begin(), blocked_.end(), make_pair(to_n, from_n)) != blocked_.end())) {