Fawkes API  Fawkes Development Version
timed_reservation_list_node_constraint.h
1 /***************************************************************************
2  * timed_reservation_list_node_constraint.h - node constraint that holds a static
3  * list of nodes and a duration to block
4  *
5  * Created: Sat Jul 12 16:48:23 2014
6  * Copyright 2014 Sebastian Reuter
7  * 2014 Tim Niemueller
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef __NAVGRAPH_CONSTRAINTS_TIMED_RESERVATION_LIST_NODE_CONSTRAINT_H_
24 #define __NAVGRAPH_CONSTRAINTS_TIMED_RESERVATION_LIST_NODE_CONSTRAINT_H_
25 
26 #include <navgraph/constraints/static_list_node_constraint.h>
27 
28 #include <vector>
29 #include <string>
30 
31 #include <utils/time/time.h>
32 #include <navgraph/navgraph.h>
33 #include <logging/logger.h>
34 
35 namespace fawkes{
36 
37 
39 {
40  public:
41  NavGraphTimedReservationListNodeConstraint(Logger *logger, std::string constraint_name, fawkes::Clock *clock);
42 
43  NavGraphTimedReservationListNodeConstraint(Logger *logger, std::string constraint_name, fawkes::Clock *clock,
44  std::vector<std::pair<fawkes::NavGraphNode, fawkes::Time>> node_time_list );
45 
47 
48  const std::vector<std::pair<fawkes::NavGraphNode, fawkes::Time>> & node_time_list() const;
49 
50  void add_node(const fawkes::NavGraphNode &node, const fawkes::Time valid_time);
51  void add_nodes(const std::vector<std::pair<fawkes::NavGraphNode, fawkes::Time>> &timed_nodes);
52  void remove_node(const fawkes::NavGraphNode &node);
53  void clear_nodes();
54  bool has_node(const fawkes::NavGraphNode &node);
55 
56  virtual bool compute(void) throw();
57  virtual bool blocks(const fawkes::NavGraphNode &node) throw();
58 
59  private:
60  std::vector<std::pair<fawkes::NavGraphNode, fawkes::Time>> node_time_list_;
61  bool modified_;
62  Logger *logger_;
63  fawkes::Clock *clock_;
64  std::string constraint_name_;
65 
66 };
67 
68 } // end namespace fawkes
69 
70 #endif
71 
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
void remove_node(const fawkes::NavGraphNode &node)
Remove a single node from the constraint list.
bool has_node(const fawkes::NavGraphNode &node)
Check if constraint has a specific node.
const std::vector< std::pair< fawkes::NavGraphNode, fawkes::Time > > & node_time_list() const
Get list of blocked nodes.
Fawkes library namespace.
This is supposed to be the central clock in Fawkes.
Definition: clock.h:34
A class for handling time.
Definition: time.h:91
NavGraphTimedReservationListNodeConstraint(Logger *logger, std::string constraint_name, fawkes::Clock *clock)
Constructor.
virtual bool blocks(const fawkes::NavGraphNode &node)
Check if constraint blocks a node.
void add_node(const fawkes::NavGraphNode &node, const fawkes::Time valid_time)
Add a single node to constraint list.
Topological graph node.
Definition: navgraph_node.h:38
Constraint that holds a list of nodes to block with timeouts.
void add_nodes(const std::vector< std::pair< fawkes::NavGraphNode, fawkes::Time >> &timed_nodes)
Add multiple nodes to constraint list.
Constraint that can be queried to check if a node is blocked.
Interface for logging.
Definition: logger.h:34