speed_scheduler.h

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#ifndef SPEED_SCHEDULER_H
#define SPEED_SCHEDULER_H

#include <memory>
#include <vector>

namespace multi_robot_router
{
    class SpeedScheduler
    {
      public: 
        SpeedScheduler(const uint32_t _nrRobots);
        void reset(const uint32_t  _nrRobots);
        bool rescheduleSpeeds(const uint32_t  _collidingRobot, const std::vector< uint32_t > &_collsisions, std::vector< float > &_newSchedule, int32_t &_firstRobotToReplan);
        const std::vector<float> &getActualSpeeds();

        protected:  
          std::vector<std::vector<float>> checkedSchedules_;
          std::vector<float> actualSpeedSchedule_;
    };
}
#endif // HEURISTIC_H