Fawkes API  Fawkes Development Version
timed_reservation_list_node_constraint.h
1 /***************************************************************************
2  * timed_reservation_list_node_constraint.h - node constraint that holds a static
3  * list of nodes and a duration to block
4  *
5  * Created: Sat Jul 12 16:48:23 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_TIMED_RESERVATION_LIST_NODE_CONSTRAINT_H_
24 #define _NAVGRAPH_CONSTRAINTS_TIMED_RESERVATION_LIST_NODE_CONSTRAINT_H_
25 
26 #include <logging/logger.h>
27 #include <navgraph/constraints/static_list_node_constraint.h>
28 #include <navgraph/navgraph.h>
29 #include <utils/time/time.h>
30 
31 #include <string>
32 #include <vector>
33 
34 namespace fawkes {
35 
36 class NavGraphTimedReservationListNodeConstraint : public NavGraphNodeConstraint
37 {
38 public:
40  std::string constraint_name,
41  fawkes::Clock *clock);
42 
44  Logger * logger,
45  std::string constraint_name,
46  fawkes::Clock * clock,
47  std::vector<std::pair<fawkes::NavGraphNode, fawkes::Time>> node_time_list);
48 
50 
51  const std::vector<std::pair<fawkes::NavGraphNode, fawkes::Time>> &node_time_list() const;
52 
53  void add_node(const fawkes::NavGraphNode &node, const fawkes::Time valid_time);
54  void add_nodes(const std::vector<std::pair<fawkes::NavGraphNode, fawkes::Time>> &timed_nodes);
55  void remove_node(const fawkes::NavGraphNode &node);
56  void clear_nodes();
57  bool has_node(const fawkes::NavGraphNode &node);
58 
59  virtual bool compute(void) throw();
60  virtual bool blocks(const fawkes::NavGraphNode &node) throw();
61 
62 private:
63  std::vector<std::pair<fawkes::NavGraphNode, fawkes::Time>> node_time_list_;
64  bool modified_;
65  Logger * logger_;
66  fawkes::Clock * clock_;
67  std::string constraint_name_;
68 };
69 
70 } // end namespace fawkes
71 
72 #endif
fawkes::NavGraphNode
Definition: navgraph_node.h:38
fawkes::NavGraphTimedReservationListNodeConstraint::add_node
void add_node(const fawkes::NavGraphNode &node, const fawkes::Time valid_time)
Add a single node to constraint list.
Definition: timed_reservation_list_node_constraint.cpp:112
fawkes::NavGraphTimedReservationListNodeConstraint::NavGraphTimedReservationListNodeConstraint
NavGraphTimedReservationListNodeConstraint(Logger *logger, std::string constraint_name, fawkes::Clock *clock)
Constructor.
Definition: timed_reservation_list_node_constraint.cpp:45
fawkes::NavGraphTimedReservationListNodeConstraint::blocks
virtual bool blocks(const fawkes::NavGraphNode &node)
Definition: timed_reservation_list_node_constraint.cpp:183
fawkes::NavGraphTimedReservationListNodeConstraint::add_nodes
void add_nodes(const std::vector< std::pair< fawkes::NavGraphNode, fawkes::Time >> &timed_nodes)
Add multiple nodes to constraint list.
Definition: timed_reservation_list_node_constraint.cpp:135
fawkes::NavGraphTimedReservationListNodeConstraint::has_node
bool has_node(const fawkes::NavGraphNode &node)
Check if constraint has a specific node.
Definition: timed_reservation_list_node_constraint.cpp:172
fawkes::NavGraphTimedReservationListNodeConstraint::compute
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
Definition: timed_reservation_list_node_constraint.cpp:80
fawkes::NavGraphTimedReservationListNodeConstraint::remove_node
void remove_node(const fawkes::NavGraphNode &node)
Remove a single node from the constraint list.
Definition: timed_reservation_list_node_constraint.cpp:152
fawkes::Logger
Definition: logger.h:40
fawkes
fawkes::NavGraphTimedReservationListNodeConstraint::~NavGraphTimedReservationListNodeConstraint
virtual ~NavGraphTimedReservationListNodeConstraint()
Virtual empty destructor.
Definition: timed_reservation_list_node_constraint.cpp:75
fawkes::NavGraphTimedReservationListNodeConstraint::clear_nodes
void clear_nodes()
Remove all nodes.
Definition: timed_reservation_list_node_constraint.cpp:204
fawkes::Time
Definition: time.h:96
fawkes::NavGraphTimedReservationListNodeConstraint::node_time_list
const std::vector< std::pair< fawkes::NavGraphNode, fawkes::Time > > & node_time_list() const
Get list of blocked nodes.
Definition: timed_reservation_list_node_constraint.cpp:197
fawkes::Clock
Definition: clock.h:39