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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
43namespace ompl
44{
45 namespace base
46 {
49 {
52 {
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
Main namespace. Contains everything in this library.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49
StatusType
The possible values of the status returned by a planner.
Definition: PlannerStatus.h:52
@ ABORT
The planner did not find a solution for some other reason.
Definition: PlannerStatus.h:70
@ INVALID_START
Invalid start state or no start state specified.
Definition: PlannerStatus.h:56
@ EXACT_SOLUTION
The planner found an exact solution.
Definition: PlannerStatus.h:66
@ INVALID_GOAL
Invalid goal state.
Definition: PlannerStatus.h:58
@ UNRECOGNIZED_GOAL_TYPE
The goal is of a type that a planner does not recognize.
Definition: PlannerStatus.h:60
@ APPROXIMATE_SOLUTION
The planner found an approximate solution.
Definition: PlannerStatus.h:64
@ TIMEOUT
The planner failed to find a solution.
Definition: PlannerStatus.h:62
@ UNKNOWN
Uninitialized status.
Definition: PlannerStatus.h:54
@ TYPE_COUNT
The number of possible status values.
Definition: PlannerStatus.h:72
@ CRASH
The planner crashed.
Definition: PlannerStatus.h:68
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