21 #include "clusters_block_constraint.h" 22 #include "navgraph_clusters_thread.h" 35 : NavGraphEdgeConstraint(name)
58 std::string to_n = to.name();
59 std::string from_n = from.name();
61 ((find(blocked_.begin(), blocked_.end(), make_pair(from_n, to_n)) != blocked_.end()) ||
62 (find(blocked_.begin(), blocked_.end(), make_pair(to_n, from_n)) != blocked_.end()) );
virtual ~NavGraphClustersBlockConstraint()
Virtual empty destructor.
std::list< std::pair< std::string, std::string > > blocked_edges()
Get a list of edges close to a clusters considered blocked.
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.