Fawkes API  Fawkes Development Version
edge_constraint.h
1 /***************************************************************************
2  * edge_constraint.h - base class for edge constraints
3  *
4  * Created: Sat Jul 12 14:40:01 2014
5  * Copyright 2014 Sebastian Reuter
6  * 2014 Tim Niemueller
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef __NAVGRAPH_CONSTRAINTS_EDGE_CONSTRAINT_H_
23 #define __NAVGRAPH_CONSTRAINTS_EDGE_CONSTRAINT_H_
24 
25 #include <vector>
26 #include <string>
27 
28 #include <navgraph/navgraph_node.h>
29 
30 namespace fawkes{
31 #if 0 /* just to make Emacs auto-indent happy */
32 }
33 #endif
34 
35 class Logger;
36 
38 {
39  public:
40  NavGraphEdgeConstraint(const std::string &name);
41  NavGraphEdgeConstraint(const char *name);
42  virtual ~NavGraphEdgeConstraint();
43 
44  std::string name();
45 
46  virtual bool compute(void) throw();
47  virtual bool blocks(const fawkes::NavGraphNode &from,
48  const fawkes::NavGraphNode &to) throw() = 0;
49 
50  bool operator==(const std::string &name) const;
51 
52  protected:
53  std::string name_;
54 
55 };
56 
57 } // end namespace fawkes
58 
59 #endif
Constraint that can be queried to check if an edge is blocked.
Fawkes library namespace.
bool operator==(const std::string &name) const
Check if constraint matches name.
std::string name_
Name of constraint.
virtual ~NavGraphEdgeConstraint()
Virtual empty destructor.
std::string name()
Get name of constraint.
Topological graph node.
Definition: navgraph_node.h:38
virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to)=0
Check if constraint blocks an edge.
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
NavGraphEdgeConstraint(const std::string &name)
Constructor.