Fawkes API
Fawkes Development Version
clusters_block_constraint.h
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/***************************************************************************
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* clusters_block_constraint.h - block edges close to clusters
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*
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* Created: Fri Jul 18 21:52:40 2014
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* Copyright 2014 Tim Niemueller
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _NAVGRAPH_CLUSTERS_CLUSTERS_BLOCK_CONSTRAINT_H_
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#define _NAVGRAPH_CLUSTERS_CLUSTERS_BLOCK_CONSTRAINT_H_
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#include <navgraph/constraints/edge_constraint.h>
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#include <list>
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#include <string>
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class
NavGraphClustersThread
;
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class
NavGraphClustersBlockConstraint
:
public
fawkes::NavGraphEdgeConstraint
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{
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public
:
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NavGraphClustersBlockConstraint
(
const
char
*
name
,
NavGraphClustersThread
*parent);
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virtual
~NavGraphClustersBlockConstraint
();
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virtual
bool
compute
(
void
)
throw
();
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virtual
bool
blocks
(
const
fawkes::NavGraphNode
&from,
const
fawkes::NavGraphNode
&to)
throw
();
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private
:
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NavGraphClustersThread
* parent_;
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std::list<std::pair<std::string, std::string>> blocked_;
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};
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#endif
fawkes::NavGraphNode
Topological graph node.
Definition:
navgraph_node.h:36
NavGraphClustersBlockConstraint::NavGraphClustersBlockConstraint
NavGraphClustersBlockConstraint(const char *name, NavGraphClustersThread *parent)
Constructor.
Definition:
clusters_block_constraint.cpp:34
NavGraphClustersThread
Block navgraph paths based on laser clusters.
Definition:
navgraph_clusters_thread.h:56
NavGraphClustersBlockConstraint::compute
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
Definition:
clusters_block_constraint.cpp:47
fawkes::NavGraphEdgeConstraint
Constraint that can be queried to check if an edge is blocked.
Definition:
edge_constraint.h:35
NavGraphClustersBlockConstraint::~NavGraphClustersBlockConstraint
virtual ~NavGraphClustersBlockConstraint()
Virtual empty destructor.
Definition:
clusters_block_constraint.cpp:42
NavGraphClustersBlockConstraint
Constraint to block edges close to clusters.
Definition:
clusters_block_constraint.h:32
NavGraphClustersBlockConstraint::blocks
virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to)
Check if constraint blocks an edge.
Definition:
clusters_block_constraint.cpp:54
fawkes::NavGraphEdgeConstraint::name
std::string name()
Get name of constraint.
Definition:
edge_constraint.cpp:77
src
plugins
navgraph-clusters
clusters_block_constraint.h
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