.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_DetectConflict.hpp:

Program Listing for File DetectConflict.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_DetectConflict.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/DetectConflict.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2020 Open Source Robotics Foundation
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
   */
   
   #ifndef RMF_TRAFFIC__DETECTCONFLICT_HPP
   #define RMF_TRAFFIC__DETECTCONFLICT_HPP
   
   #include <rmf_traffic/Trajectory.hpp>
   #include <rmf_traffic/Route.hpp>
   #include <rmf_traffic/Profile.hpp>
   #include <exception>
   
   namespace rmf_traffic {
   
   namespace {
   
   
   } // anonymous namespace
   
   //==============================================================================
   class invalid_trajectory_error : public std::exception
   {
   public:
   
     const char* what() const noexcept override;
   
     class Implementation;
   private:
     invalid_trajectory_error();
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   //==============================================================================
   class DetectConflict
   {
   public:
   
     enum class Interpolate : uint16_t
     {
       CubicSpline
     };
   
     struct Conflict
     {
       Trajectory::const_iterator a_it;
       Trajectory::const_iterator b_it;
       Time time;
     };
   
     static std::optional<Conflict> between(
       const Profile& profile_a,
       const Trajectory& trajectory_a,
       const DependsOnCheckpoint* dependencies_of_a_on_b,
       const Profile& profile_b,
       const Trajectory& trajectory_b,
       const DependsOnCheckpoint* dependencies_of_b_on_a,
       Interpolate interpolation = Interpolate::CubicSpline);
   
     class Implementation;
   };
   
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__DETECTCONFLICT_HPP