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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
{
/// A class to store the exit status of Planner::solve()
struct PlannerStatus
{
/// The possible values of the status returned by a planner
enum StatusType
{
/// Uninitialized status
UNKNOWN = 0,
/// Invalid start state or no start state specified
INVALID_START,
/// Invalid goal state
INVALID_GOAL,
/// The goal is of a type that a planner does not recognize
UNRECOGNIZED_GOAL_TYPE,
/// The planner failed to find a solution
TIMEOUT,
/// The planner found an approximate solution
APPROXIMATE_SOLUTION,
/// The planner found an exact solution
EXACT_SOLUTION,
/// The planner crashed
CRASH,
/// The number of possible status values
TYPE_COUNT
};
/// Default constructor
PlannerStatus(StatusType status = UNKNOWN) : status_(status)
{
}
/// Convenience constructor that sets status_ based on whether some solution was found (\e hasSolution) and whether that solution was approximate or not (\e isApproximate)
PlannerStatus(bool hasSolution, bool isApproximate)
: status_ (hasSolution ? (isApproximate ? APPROXIMATE_SOLUTION : EXACT_SOLUTION) : TIMEOUT)
{
}
/// Return a string representation
std::string asString() const;
/// Allow casting to true. The value is true iff an approximate or exact solution was found
operator bool() const
{
return status_ == APPROXIMATE_SOLUTION || status_ == EXACT_SOLUTION;
}
/// Allow casting to the enum type StatusType
operator StatusType() const
{
return status_;
}
private:
/// Exit status of calling Planner::solve()
StatusType status_;
};
/// Print a PlannerStatus object
inline std::ostream& operator<<(std::ostream& out, const PlannerStatus& status)
{
return out << status.asString();
}
}
}
#endif
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