Fawkes API Fawkes Development Version
node_constraint.h
1/***************************************************************************
2 * node_constraint.h - base class for nod constraints
3 *
4 * Created: Sun Mar 02 10:47:35 2014
5 * Copyright 2014 Sebastian Reuter
6 * 2014 Tim Niemueller
7 ****************************************************************************/
8
9/* This program is free software; you can redistribute it and/or modify
10 * it under the terms of the GNU General Public License as published by
11 * the Free Software Foundation; either version 2 of the License, or
12 * (at your option) any later version.
13 *
14 * This program is distributed in the hope that it will be useful,
15 * but WITHOUT ANY WARRANTY; without even the implied warranty of
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17 * GNU Library General Public License for more details.
18 *
19 * Read the full text in the LICENSE.GPL file in the doc directory.
20 */
21
22#ifndef _NAVGRAPH_CONSTRAINTS_NODE_CONSTRAINT_H_
23#define _NAVGRAPH_CONSTRAINTS_NODE_CONSTRAINT_H_
24
25#include <navgraph/navgraph_node.h>
26
27#include <string>
28#include <vector>
29
30namespace fawkes {
31
32class Logger;
33
35{
36public:
37 NavGraphNodeConstraint(const std::string &name);
38 NavGraphNodeConstraint(const char *name);
40
41 std::string name();
42
43 virtual bool compute(void) noexcept;
44 virtual bool blocks(const fawkes::NavGraphNode &node) noexcept = 0;
45
46 bool operator==(const std::string &name) const;
47
48protected:
49 std::string name_;
50};
51
52} // end namespace fawkes
53
54#endif
Constraint that can be queried to check if a node is blocked.
std::string name_
Name of constraint.
virtual ~NavGraphNodeConstraint()
Virtual empty destructor.
virtual bool compute(void) noexcept
Perform compuations before graph search and to indicate re-planning.
bool operator==(const std::string &name) const
Check if constraint matches name.
NavGraphNodeConstraint(const std::string &name)
Constructor.
virtual bool blocks(const fawkes::NavGraphNode &node) noexcept=0
Check if constraint blocks a node.
std::string name()
Get name of constraint.
Topological graph node.
Definition: navgraph_node.h:36
Fawkes library namespace.