Class LaneClosure

• Defined in File LaneClosure.hpp

Class Documentation

class rmf_traffic::agv::LaneClosure

This class describes the closure status of lanes in a Graph, i.e. whether a lane is open or closed. Open lanes can be used by the planner to reach a goal. The planner will not expand down a lane that is closed.

Public Functions

LaneClosure()

Default constructor.

By default, all lanes are open.

bool is_open(std::size_t lane) const

Check whether the lane corresponding to the given index is open.

Parameters

• [in] lane: The index for the lane of interest

bool is_closed(std::size_t lane) const

Check whether the lane corresponding to the given index is closed.

Parameters

• [in] lane: The index for the lane of interest

LaneClosure &open(std::size_t lane)

Set the lane corresponding to the given index to be open.

Parameters

• [in] lane: The index for the opening lane

LaneClosure &close(std::size_t lane)

Set the lane corresponding to the given index to be closed.

Parameters

• [in] lane: The index for the closing lane

std::size_t hash() const

Get an integer that uniquely describes the overall closure status of the graph lanes.

bool operator==(const LaneClosure &other) const

Equality comparison operator.