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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 {
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
Main namespace. Contains everything in this library.
A class to store the exit status of Planner::solve()
StatusType
The possible values of the status returned by a planner.
@ ABORT
The planner did not find a solution for some other reason.
@ INVALID_START
Invalid start state or no start state specified.
@ EXACT_SOLUTION
The planner found an exact solution.
@ INVALID_GOAL
Invalid goal state.
@ UNRECOGNIZED_GOAL_TYPE
The goal is of a type that a planner does not recognize.
@ APPROXIMATE_SOLUTION
The planner found an approximate solution.
@ TIMEOUT
The planner failed to find a solution.
@ UNKNOWN
Uninitialized status.
@ TYPE_COUNT
The number of possible status values.
@ INFEASIBLE
The planner decided that problem is infeasible.
@ CRASH
The planner crashed.
PlannerStatus(bool hasSolution, bool isApproximate)
std::string asString() const
Return a string representation.
PlannerStatus(StatusType status=UNKNOWN)
Default constructor.