21 #ifndef __NAVGRAPH_CONSTRAINTS_EDGE_COST_CONSTRAINT_H_ 22 #define __NAVGRAPH_CONSTRAINTS_EDGE_COST_CONSTRAINT_H_ 27 #include <navgraph/navgraph_node.h> 45 virtual bool compute(
void)
throw();
49 bool operator==(
const std::string &name)
const;
virtual ~NavGraphEdgeCostConstraint()
Virtual empty destructor.
NavGraphEdgeCostConstraint(std::string &name)
Constructor.
Fawkes library namespace.
Constraint that can be queried for an edge cost factor.
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
virtual float cost_factor(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to)=0
Get cost factor for given edge.
std::string name_
Name of constraint.
bool operator==(const std::string &name) const
Check if constraint matches name.
std::string name()
Get name of constraint.