ompl/base/PlannerStatus.h
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00034 
00035 /* Author: Mark Moll */
00036 
00037 #ifndef OMPL_BASE_PLANNER_STATUS_
00038 #define OMPL_BASE_PLANNER_STATUS_
00039 
00040 #include <string>
00041 #include <ostream>
00042 
00043 namespace ompl
00044 {
00045     namespace base
00046     {
00048         struct PlannerStatus
00049         {
00051             enum StatusType
00052             {
00054                 UNKNOWN = 0,
00056                 INVALID_START,
00058                 INVALID_GOAL,
00060                 UNRECOGNIZED_GOAL_TYPE,
00062                 TIMEOUT,
00064                 APPROXIMATE_SOLUTION,
00066                 EXACT_SOLUTION,
00068                 CRASH,
00070                 TYPE_COUNT
00071             };
00072 
00074             PlannerStatus(StatusType status = UNKNOWN) : status_(status)
00075             {
00076             }
00077 
00079             PlannerStatus(bool hasSolution, bool isApproximate)
00080                 : status_ (hasSolution ? (isApproximate ? APPROXIMATE_SOLUTION : EXACT_SOLUTION) : TIMEOUT)
00081             {
00082             }
00083 
00085             std::string asString() const;
00087             operator bool() const
00088             {
00089                 return status_ == APPROXIMATE_SOLUTION || status_ == EXACT_SOLUTION;
00090             }
00092             operator StatusType() const
00093             {
00094                 return status_;
00095             }
00096 
00097         private:
00099             StatusType status_;
00100         };
00101 
00103         inline std::ostream& operator<<(std::ostream& out, const PlannerStatus& status)
00104         {
00105             return out << status.asString();
00106         }
00107     }
00108 }
00109 
00110 #endif
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