Fawkes API  Fawkes Development Version
clusters_block_constraint.h
1 /***************************************************************************
2  * clusters_block_constraint.h - block edges close to clusters
3  *
4  * Created: Fri Jul 18 21:52:40 2014
5  * Copyright 2014 Tim Niemueller
6  ****************************************************************************/
7 
8 /* This program is free software; you can redistribute it and/or modify
9  * it under the terms of the GNU General Public License as published by
10  * the Free Software Foundation; either version 2 of the License, or
11  * (at your option) any later version.
12  *
13  * This program is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16  * GNU Library General Public License for more details.
17  *
18  * Read the full text in the LICENSE.GPL file in the doc directory.
19  */
20 
21 #ifndef __NAVGRAPH_CLUSTERS_CLUSTERS_BLOCK_CONSTRAINT_H_
22 #define __NAVGRAPH_CLUSTERS_CLUSTERS_BLOCK_CONSTRAINT_H_
23 
24 #include <navgraph/constraints/edge_constraint.h>
25 
26 #include <list>
27 #include <string>
28 
30 
32 {
33  public:
36 
37  virtual bool compute(void) throw();
38  virtual bool blocks(const fawkes::NavGraphNode &from,
39  const fawkes::NavGraphNode &to) throw();
40 
41  private:
42  NavGraphClustersThread *parent_;
43  std::list<std::pair<std::string, std::string>> blocked_;
44 
45 };
46 
47 #endif
Constraint to block edges close to clusters.
Constraint that can be queried to check if an edge is blocked.
virtual ~NavGraphClustersBlockConstraint()
Virtual empty destructor.
NavGraphClustersBlockConstraint(const char *name, NavGraphClustersThread *parent)
Constructor.
virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to)
Check if constraint blocks an edge.
Block navgraph paths based on laser clusters.
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
std::string name()
Get name of constraint.
Topological graph node.
Definition: navgraph_node.h:38