Fawkes API
Fawkes Development Version
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22 #ifndef _NAVGRAPH_CONSTRAINTS_NODE_CONSTRAINT_H_
23 #define _NAVGRAPH_CONSTRAINTS_NODE_CONSTRAINT_H_
25 #include <navgraph/navgraph_node.h>
43 virtual bool compute(
void)
throw();
virtual ~NavGraphNodeConstraint()
Virtual empty destructor.
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
Constraint that can be queried to check if a node is blocked.
std::string name()
Get name of constraint.
Fawkes library namespace.
std::string name_
Name of constraint.
virtual bool blocks(const fawkes::NavGraphNode &node)=0
Check if constraint blocks a node.
NavGraphNodeConstraint(const std::string &name)
Constructor.
bool operator==(const std::string &name) const
Check if constraint matches name.