PlannerStatus.h
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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  {
48  struct PlannerStatus
49  {
51  enum StatusType
52  {
54  UNKNOWN = 0,
62  TIMEOUT,
68  CRASH,
70  ABORT,
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
std::ostream & operator<<(std::ostream &stream, Cost c)
Output operator for Cost.
Definition: Cost.cpp:39
@ UNRECOGNIZED_GOAL_TYPE
The goal is of a type that a planner does not recognize.
@ APPROXIMATE_SOLUTION
The planner found an approximate solution.
@ CRASH
The planner crashed.
std::string asString() const
Return a string representation.
@ TYPE_COUNT
The number of possible status values.
@ TIMEOUT
The planner failed to find a solution.
@ INVALID_GOAL
Invalid goal state.
@ ABORT
The planner did not find a solution for some other reason.
PlannerStatus(StatusType status=UNKNOWN)
Default constructor.
@ EXACT_SOLUTION
The planner found an exact solution.
@ UNKNOWN
Uninitialized status.
StatusType
The possible values of the status returned by a planner.
@ INVALID_START
Invalid start state or no start state specified.
Main namespace. Contains everything in this library.