23 #ifndef __LIBS_NAVGRAPH_NAVGRAPH_PATH_H_ 24 #define __LIBS_NAVGRAPH_NAVGRAPH_PATH_H_ 26 #include <navgraph/navgraph_node.h> 49 size_t current_index()
const;
53 size_t remaining()
const;
54 float remaining_cost()
const;
59 void set_current(
size_t new_current);
69 {
return path_ != NULL; }
72 void assert_initialized()
const;
82 void add_node(
const NavGraphNode &node,
float cost_from_end = 0);
83 void set_nodes(
const std::vector<NavGraphNode> &nodes,
float cost = -1);
88 std::string get_path_as_string(
const char delim =
':')
const;
89 std::vector<std::string> get_node_names()
const;
94 const std::vector<NavGraphNode> &
nodes()
const 111 Traversal traversal()
const;
129 std::vector<NavGraphNode> nodes_;
std::vector< NavGraphNode > & nodes_mutable()
Get nodes along the path as mutable vector.
Fawkes library namespace.
Class representing a path for a NavGraph.
float cost() const
Get cost of path from start to to end.
const std::vector< NavGraphNode > & nodes() const
Get nodes along the path.
Sub-class representing a navgraph path traversal.
const NavGraphPath & path() const
Get parent path the traversal belongs to.