PlannerStatus.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2012, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Mark Moll */
36 
37 #ifndef OMPL_BASE_PLANNER_STATUS_
38 #define OMPL_BASE_PLANNER_STATUS_
39 
40 #include <string>
41 #include <ostream>
42 
43 namespace ompl
44 {
45  namespace base
46  {
49  {
52  {
54  UNKNOWN = 0,
73  };
74 
76  PlannerStatus(StatusType status = UNKNOWN) : status_(status)
77  {
78  }
79 
82  PlannerStatus(bool hasSolution, bool isApproximate)
83  : status_(hasSolution ? (isApproximate ? APPROXIMATE_SOLUTION : EXACT_SOLUTION) : TIMEOUT)
84  {
85  }
86 
88  std::string asString() const;
90  operator bool() const
91  {
92  return status_ == APPROXIMATE_SOLUTION || status_ == EXACT_SOLUTION;
93  }
95  operator StatusType() const
96  {
97  return status_;
98  }
99 
100  private:
102  StatusType status_;
103  };
104 
106  inline std::ostream &operator<<(std::ostream &out, const PlannerStatus &status)
107  {
108  return out << status.asString();
109  }
110  }
111 }
112 
113 #endif
The planner failed to find a solution.
Definition: PlannerStatus.h:62
std::ostream & operator<<(std::ostream &stream, Cost c)
Output operator for Cost.
Definition: Cost.cpp:39
Invalid start state or no start state specified.
Definition: PlannerStatus.h:56
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
The goal is of a type that a planner does not recognize.
Definition: PlannerStatus.h:60
The planner did not find a solution for some other reason.
Definition: PlannerStatus.h:70
The number of possible status values.
Definition: PlannerStatus.h:72
The planner found an exact solution.
Definition: PlannerStatus.h:66
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
StatusType
The possible values of the status returned by a planner.
Definition: PlannerStatus.h:51
The planner found an approximate solution.
Definition: PlannerStatus.h:64
PlannerStatus(bool hasSolution, bool isApproximate)
Definition: PlannerStatus.h:82
std::string asString() const
Return a string representation.
PlannerStatus(StatusType status=UNKNOWN)
Default constructor.
Definition: PlannerStatus.h:76