21 #include "clusters_static_cost_constraint.h" 22 #include "navgraph_clusters_thread.h" 38 : NavGraphEdgeCostConstraint(name)
62 std::string to_n = to.name();
63 std::string from_n = from.name();
64 if ((find(blocked_.begin(), blocked_.end(), make_pair(from_n, to_n)) != blocked_.end()) ||
65 (find(blocked_.begin(), blocked_.end(), make_pair(to_n, from_n)) != blocked_.end()) )
std::list< std::pair< std::string, std::string > > blocked_edges()
Get a list of edges close to a clusters considered blocked.
Block navgraph paths based on laser clusters.