Fawkes API  Fawkes Development Version
static_list_edge_constraint.h
1 /***************************************************************************
2  * static_list_edge_constraint.h - edge constraint that holds a static list
3  * of edges to block
4  *
5  * Created: Sat Jul 12 16:46:50 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_STATIC_LIST_EDGE_CONSTRAINT_H_
24 #define __NAVGRAPH_CONSTRAINTS_STATIC_LIST_EDGE_CONSTRAINT_H_
25 
26 #include <navgraph/constraints/edge_constraint.h>
27 
28 #include <vector>
29 #include <string>
30 
31 #include <navgraph/navgraph.h>
32 
33 namespace fawkes{
34 #if 0 /* just to make Emacs auto-indent happy */
35 }
36 #endif
37 
39 {
40  public:
42 
43  NavGraphStaticListEdgeConstraint(std::string name,
44  std::vector<fawkes::NavGraphEdge> &edge_list);
45 
47 
48  const std::vector<fawkes::NavGraphEdge> & edge_list() const;
49 
50  void add_edge(const fawkes::NavGraphEdge &edge);
51  void add_edges(const std::vector<fawkes::NavGraphEdge> &edges);
52  void remove_edge(const fawkes::NavGraphEdge &edge);
53  void clear_edges();
54  bool has_edge(const fawkes::NavGraphEdge &edge);
55 
56  virtual bool compute(void) throw();
57 
58  virtual bool blocks(const fawkes::NavGraphNode &from,
59  const fawkes::NavGraphNode &to) throw();
60 
61  private:
62  std::vector<fawkes::NavGraphEdge> edge_list_;
63  bool modified_;
64 
65 };
66 
67 } // end namespace fawkes
68 
69 #endif
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.
Topological graph edge.
Definition: navgraph_edge.h:39
Topological graph node.
Definition: navgraph_node.h:38
Constraint that holds a list of edges to block.
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.