21 #ifndef __NAVGRAPH_CLUSTERS_CLUSTERS_BLOCK_CONSTRAINT_H_ 22 #define __NAVGRAPH_CLUSTERS_CLUSTERS_BLOCK_CONSTRAINT_H_ 24 #include <navgraph/constraints/edge_constraint.h> 37 virtual bool compute(
void)
throw();
43 std::list<std::pair<std::string, std::string>> blocked_;
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.