All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends
PlannerStatus.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2012, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
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  {
49  {
52  {
54  UNKNOWN = 0,
71  };
72 
74  PlannerStatus(StatusType status = UNKNOWN) : status_(status)
75  {
76  }
77 
79  PlannerStatus(bool hasSolution, bool isApproximate)
80  : status_ (hasSolution ? (isApproximate ? APPROXIMATE_SOLUTION : EXACT_SOLUTION) : TIMEOUT)
81  {
82  }
83 
85  std::string asString() const;
87  operator bool() const
88  {
89  return status_ == APPROXIMATE_SOLUTION || status_ == EXACT_SOLUTION;
90  }
92  operator StatusType() const
93  {
94  return status_;
95  }
96 
97  private:
99  StatusType status_;
100  };
101 
103  inline std::ostream& operator<<(std::ostream& out, const PlannerStatus& status)
104  {
105  return out << status.asString();
106  }
107  }
108 }
109 
110 #endif
The planner failed to find a solution.
Definition: PlannerStatus.h:62
std::ostream & operator<<(std::ostream &stream, Cost c)
Output operator for Cost.
Definition: Cost.cpp:39
Invalid start state or no start state specified.
Definition: PlannerStatus.h:56
The goal is of a type that a planner does not recognize.
Definition: PlannerStatus.h:60
std::string asString() const
Return a string representation.
The number of possible status values.
Definition: PlannerStatus.h:70
The planner found an exact solution.
Definition: PlannerStatus.h:66
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
StatusType
The possible values of the status returned by a planner.
Definition: PlannerStatus.h:51
The planner found an approximate solution.
Definition: PlannerStatus.h:64
PlannerStatus(bool hasSolution, bool isApproximate)
Convenience constructor that sets status_ based on whether some solution was found (hasSolution) and ...
Definition: PlannerStatus.h:79
PlannerStatus(StatusType status=UNKNOWN)
Default constructor.
Definition: PlannerStatus.h:74