Fawkes API
Fawkes Development Version
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21 #ifndef _NAVGRAPH_CONSTRAINTS_EDGE_COST_CONSTRAINT_H_
22 #define _NAVGRAPH_CONSTRAINTS_EDGE_COST_CONSTRAINT_H_
24 #include <navgraph/navgraph_node.h>
42 virtual bool compute(
void)
throw();
std::string name_
Name of constraint.
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
virtual float cost_factor(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to)=0
Get cost factor for given edge.
bool operator==(const std::string &name) const
Check if constraint matches name.
Constraint that can be queried for an edge cost factor.
Fawkes library namespace.
virtual ~NavGraphEdgeCostConstraint()
Virtual empty destructor.
NavGraphEdgeCostConstraint(std::string &name)
Constructor.
std::string name()
Get name of constraint.