22 #ifndef __NAVGRAPH_CLUSTERS_CLUSTERS_DISTANCE_COST_CONSTRAINT_H_ 23 #define __NAVGRAPH_CLUSTERS_CLUSTERS_DISTANCE_COST_CONSTRAINT_H_ 25 #include <navgraph/constraints/edge_cost_constraint.h> 30 #include <Eigen/Geometry> 38 float cost_min,
float cost_max,
39 float dist_min,
float dist_max);
42 virtual bool compute(
void)
throw();
55 std::list<std::tuple<std::string, std::string, Eigen::Vector2f>> blocked_;
56 Eigen::Vector2f pose_;
virtual ~NavGraphClustersDistanceCostConstraint()
Virtual empty destructor.
Constraint that can be queried for an edge cost factor.
Block navgraph paths based on laser clusters.
NavGraphClustersDistanceCostConstraint(const char *name, NavGraphClustersThread *parent, float cost_min, float cost_max, float dist_min, float dist_max)
Constructor.
Constraint apply linearly scaled costs based on the distance.
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)
Get cost factor for given edge.
std::string name()
Get name of constraint.