23 #ifndef __NAVGRAPH_CONSTRAINTS_STATIC_LIST_EDGE_CONSTRAINT_H_ 24 #define __NAVGRAPH_CONSTRAINTS_STATIC_LIST_EDGE_CONSTRAINT_H_ 26 #include <navgraph/constraints/edge_constraint.h> 31 #include <navgraph/navgraph.h> 44 std::vector<fawkes::NavGraphEdge> &
edge_list);
48 const std::vector<fawkes::NavGraphEdge> &
edge_list()
const;
51 void add_edges(
const std::vector<fawkes::NavGraphEdge> &edges);
56 virtual bool compute(
void)
throw();
62 std::vector<fawkes::NavGraphEdge> edge_list_;
Constraint that can be queried to check if an edge is blocked.
virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to)
Check if constraint blocks an edge.
void remove_edge(const fawkes::NavGraphEdge &edge)
Remove a single edge from the constraint list.
Fawkes library namespace.
NavGraphStaticListEdgeConstraint(std::string name)
Constructor.
bool has_edge(const fawkes::NavGraphEdge &edge)
Check if constraint has a specific edge.
const std::vector< fawkes::NavGraphEdge > & edge_list() const
Get list of blocked edges.
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
std::string name()
Get name of constraint.
Constraint that holds a list of edges to block.
void clear_edges()
Remove all edges.
virtual ~NavGraphStaticListEdgeConstraint()
Virtual empty destructor.
void add_edges(const std::vector< fawkes::NavGraphEdge > &edges)
Add multiple edges to constraint list.
void add_edge(const fawkes::NavGraphEdge &edge)
Add a single edge to constraint list.