Fawkes API  Fawkes Development Version
navgraph_stconstr_thread.h
1 /***************************************************************************
2  * navgraph_stconstr_thread.h - static constraints for navgraph
3  *
4  * Created: Fri Jul 11 17:31:47 2014
5  * Copyright 2014 Tim Niemueller [www.niemueller.de]
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 _PLUGINS_NAVGRAPH_NAVGRAPH_STCONSTR_THREAD_H_
22 #define _PLUGINS_NAVGRAPH_NAVGRAPH_STCONSTR_THREAD_H_
23 
24 #include <aspect/configurable.h>
25 #include <aspect/logging.h>
26 #include <core/threading/thread.h>
27 #include <navgraph/aspect/navgraph.h>
28 #include <navgraph/constraints/constraint_repo.h>
29 #include <navgraph/navgraph.h>
30 
31 namespace fawkes {
32 class NavGraphStaticListNodeConstraint;
33 class NavGraphStaticListEdgeConstraint;
34 class NavGraphStaticListEdgeCostConstraint;
35 class NavGraphPolygonNodeConstraint;
36 class NavGraphPolygonEdgeConstraint;
37 } // namespace fawkes
38 
40  public fawkes::LoggingAspect,
43 {
44 public:
47 
48  virtual void init();
49  virtual void loop();
50  virtual void finalize();
51 
52  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
53 protected:
54  virtual void
55  run()
56  {
57  Thread::run();
58  }
59 
60 private:
63  fawkes::NavGraphStaticListEdgeCostConstraint *edge_cost_constraint_;
64  fawkes::NavGraphPolygonNodeConstraint * node_poly_constraint_;
65  fawkes::NavGraphPolygonEdgeConstraint * edge_poly_constraint_;
66 };
67 
68 #endif
Thread to statically block certain nodes from config.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual ~NavGraphStaticConstraintsThread()
Destructor.
virtual void finalize()
Finalize the thread.
virtual void loop()
Code to execute in the thread.
virtual void init()
Initialize the thread.
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to access NavGraph.
Definition: navgraph.h:36
Constraint that blocks nodes within and edges touching a polygon.
Constraint that blocks nodes inside a polygon.
Constraint that holds a list of edges to block.
Constraint that hold cost factors for a static list of edges.
Constraint that holds a list of nodes to block.
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.