conflict_detector.hpp

// Copyright 2026 Intelligent Robotics Lab
//
// This file is part of the project EasyFleet
// 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 EASYFLEET_NAVIGATION_MANAGER__CONFLICT_DETECTOR_HPP_
#define EASYFLEET_NAVIGATION_MANAGER__CONFLICT_DETECTOR_HPP_
 
#include <map>
#include <set>
#include <string>
#include <vector>
 
#include "nav_msgs/msg/path.hpp"
 
namespace easyfleet
{

struct ConflictParams
{
  double lookahead_distance_m {2.0};
  double path_conflict_distance_m {0.6};
  double proximity_radius_m {3.0};
};

struct ConflictDecision
{
  std::string robot_a;
  std::string robot_b;
  double current_distance_m {0.0};
  double min_lookahead_distance_m {0.0};
  bool in_conflict {false};
  std::string yielding_robot;
  std::string reason;
};

std::set<std::string> compute_robots_to_pause(
  const std::map<std::string, nav_msgs::msg::Path> & robot_paths,
  const ConflictParams & params = ConflictParams(),
  const std::set<std::string> & already_paused = {},
  std::vector<ConflictDecision> * decisions = nullptr);
 
}  // namespace easyfleet
 
#endif  // EASYFLEET_NAVIGATION_MANAGER__CONFLICT_DETECTOR_HPP_