21#include "clusters_block_constraint.h"
23#include "navgraph_clusters_thread.h"
36: NavGraphEdgeConstraint(name)
49 blocked_ = parent_->blocked_edges();
57 std::string to_n = to.name();
58 std::string from_n = from.name();
59 return ((find(blocked_.begin(), blocked_.end(), make_pair(from_n, to_n)) != blocked_.end())
60 || (find(blocked_.begin(), blocked_.end(), make_pair(to_n, from_n)) != blocked_.end()));
NavGraphClustersBlockConstraint(const char *name, NavGraphClustersThread *parent)
Constructor.
virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to) noexcept
Check if constraint blocks an edge.
virtual bool compute(void) noexcept
Perform compuations before graph search and to indicate re-planning.
virtual ~NavGraphClustersBlockConstraint()
Virtual empty destructor.
Block navgraph paths based on laser clusters.