PlannerStatus.h

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/* Author: Mark Moll */

#ifndef OMPL_BASE_PLANNER_STATUS_
#define OMPL_BASE_PLANNER_STATUS_

#include <string>
#include <ostream>

namespace ompl
{
    namespace base
    {
        struct PlannerStatus
        {
            enum StatusType
            {
                UNKNOWN = 0,
                INVALID_START,
                INVALID_GOAL,
                UNRECOGNIZED_GOAL_TYPE,
                TIMEOUT,
                APPROXIMATE_SOLUTION,
                EXACT_SOLUTION,
                CRASH,
                ABORT,
                TYPE_COUNT
            };

            PlannerStatus(StatusType status = UNKNOWN) : status_(status)
            {
            }

            PlannerStatus(bool hasSolution, bool isApproximate)
              : status_(hasSolution ? (isApproximate ? APPROXIMATE_SOLUTION : EXACT_SOLUTION) : TIMEOUT)
            {
            }

            std::string asString() const;
            operator bool() const
            {
                return status_ == APPROXIMATE_SOLUTION || status_ == EXACT_SOLUTION;
            }
            operator StatusType() const
            {
                return status_;
            }

        private:
            StatusType status_;
        };

        inline std::ostream &operator<<(std::ostream &out, const PlannerStatus &status)
        {
            return out << status.asString();
        }
    }
}

#endif