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,
72  INFEASIBLE,
75  };
76 
78  PlannerStatus(StatusType status = UNKNOWN) : status_(status)
79  {
80  }
81 
84  PlannerStatus(bool hasSolution, bool isApproximate)
85  : status_(hasSolution ? (isApproximate ? APPROXIMATE_SOLUTION : EXACT_SOLUTION) : TIMEOUT)
86  {
87  }
88 
90  std::string asString() const;
92  operator bool() const
93  {
94  return status_ == APPROXIMATE_SOLUTION || status_ == EXACT_SOLUTION;
95  }
97  operator StatusType() const
98  {
99  return status_;
100  }
101 
102  private:
104  StatusType status_;
105  };
106 
108  inline std::ostream &operator<<(std::ostream &out, const PlannerStatus &status)
109  {
110  return out << status.asString();
111  }
112  }
113 }
114 
115 #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.
@ INFEASIBLE
The planner decided that problem is infeasible.
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.