Fawkes API  Fawkes Development Version
edge_cost_constraint.h
1 /***************************************************************************
2  * edge_cost_constraint.h - base class for edge cost constraints
3  *
4  * Created: Fri Jul 18 12:08:41 2014
5  * Copyright 2014 Tim Niemueller
6  ****************************************************************************/
7 
8 /* This program is free software; you can redistribute it and/or modify
9  * it under the terms of the GNU General Public License as published by
10  * the Free Software Foundation; either version 2 of the License, or
11  * (at your option) any later version.
12  *
13  * This program is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16  * GNU Library General Public License for more details.
17  *
18  * Read the full text in the LICENSE.GPL file in the doc directory.
19  */
20 
21 #ifndef _NAVGRAPH_CONSTRAINTS_EDGE_COST_CONSTRAINT_H_
22 #define _NAVGRAPH_CONSTRAINTS_EDGE_COST_CONSTRAINT_H_
23 
24 #include <navgraph/navgraph_node.h>
25 
26 #include <string>
27 #include <vector>
28 
29 namespace fawkes {
30 
31 class Logger;
32 
34 {
35 public:
36  NavGraphEdgeCostConstraint(std::string &name);
37  NavGraphEdgeCostConstraint(const char *name);
39 
40  std::string name();
41 
42  virtual bool compute(void) noexcept;
43  virtual float cost_factor(const fawkes::NavGraphNode &from,
44  const fawkes::NavGraphNode &to) noexcept = 0;
45 
46  bool operator==(const std::string &name) const;
47 
48 protected:
49  std::string name_;
50 };
51 
52 } // end namespace fawkes
53 
54 #endif
Constraint that can be queried for an edge cost factor.
std::string name()
Get name of constraint.
virtual bool compute(void) noexcept
Perform compuations before graph search and to indicate re-planning.
virtual float cost_factor(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to) noexcept=0
Get cost factor for given edge.
NavGraphEdgeCostConstraint(std::string &name)
Constructor.
bool operator==(const std::string &name) const
Check if constraint matches name.
std::string name_
Name of constraint.
virtual ~NavGraphEdgeCostConstraint()
Virtual empty destructor.
Topological graph node.
Definition: navgraph_node.h:36
Fawkes library namespace.