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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef ACTIONLIB_CLIENT_SIMPLE_GOAL_STATE_H_ 00036 #define ACTIONLIB_CLIENT_SIMPLE_GOAL_STATE_H_ 00037 00038 #include <string> 00039 #include "ros/console.h" 00040 00041 namespace actionlib 00042 { 00043 00048 class SimpleGoalState 00049 { 00050 public: 00051 00053 enum StateEnum 00054 { 00055 PENDING, 00056 ACTIVE, 00057 DONE 00058 } ; 00059 00060 SimpleGoalState(const StateEnum& state) : state_(state) { } 00061 00062 inline bool operator==(const SimpleGoalState& rhs) const 00063 { 00064 return (state_ == rhs.state_) ; 00065 } 00066 00067 inline bool operator==(const SimpleGoalState::StateEnum& rhs) const 00068 { 00069 return (state_ == rhs); 00070 } 00071 00072 inline bool operator!=(const SimpleGoalState::StateEnum& rhs) const 00073 { 00074 return !(*this == rhs); 00075 } 00076 00077 inline bool operator!=(const SimpleGoalState& rhs) const 00078 { 00079 return !(*this == rhs); 00080 } 00081 00082 std::string toString() const 00083 { 00084 switch(state_) 00085 { 00086 case PENDING: 00087 return "PENDING"; 00088 case ACTIVE: 00089 return "ACTIVE"; 00090 case DONE: 00091 return "DONE"; 00092 default: 00093 ROS_ERROR_NAMED("actionlib", "BUG: Unhandled SimpleGoalState: %u", state_); 00094 break; 00095 } 00096 return "BUG-UNKNOWN"; 00097 } 00098 00099 StateEnum state_; 00100 private: 00101 SimpleGoalState(); 00102 00103 } ; 00104 00105 } 00106 00107 #endif