21 #ifndef _NAVGRAPH_CONSTRAINTS_EDGE_COST_CONSTRAINT_H_
22 #define _NAVGRAPH_CONSTRAINTS_EDGE_COST_CONSTRAINT_H_
24 #include <navgraph/navgraph_node.h>
42 virtual bool compute(
void) noexcept;
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.
Fawkes library namespace.