Fawkes API  Fawkes Development Version
clusters_static_cost_constraint.h
1 /***************************************************************************
2  * clusters_static_cost_constraint.h - static cost factor for blocked edges
3  *
4  * Created: Fri Jul 18 22:36:37 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_STATIC_COST_CONSTRAINT_H_
22 #define __NAVGRAPH_CLUSTERS_CLUSTERS_STATIC_COST_CONSTRAINT_H_
23 
24 #include <navgraph/constraints/edge_cost_constraint.h>
25 
26 #include <list>
27 #include <string>
28 
30 
32 {
33  public:
35  float cost_factor);
37 
38  virtual bool compute(void) throw();
39  virtual float cost_factor(const fawkes::NavGraphNode &from,
40  const fawkes::NavGraphNode &to) throw();
41 
42  private:
43  NavGraphClustersThread *parent_;
44  float cost_factor_;
45  std::list<std::pair<std::string, std::string>> blocked_;
46 
47 };
48 
49 #endif
NavGraphClustersStaticCostConstraint(const char *name, NavGraphClustersThread *parent, float cost_factor)
Constructor.
Constraint that can be queried for an edge cost factor.
Constraint apply a static cost factor to blocked edges.
virtual ~NavGraphClustersStaticCostConstraint()
Virtual empty destructor.
Block navgraph paths based on laser clusters.
virtual float cost_factor(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to)
Get cost factor for given edge.
Topological graph node.
Definition: navgraph_node.h:38
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
std::string name()
Get name of constraint.