actionlib: actionlib: simple_client_goal

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00034 
00035 #ifndef ACTIONLIB_CLIENT_SIMPLE_CLIENT_GOAL_STATE_H_
00036 #define ACTIONLIB_CLIENT_SIMPLE_CLIENT_GOAL_STATE_H_
00037 
00038 
00039 namespace actionlib
00040 {
00041 
00042 class SimpleClientGoalState
00043 {
00044 public:
00046   enum StateEnum
00047   {
00048     PENDING,
00049     ACTIVE,
00050     RECALLED,
00051     REJECTED,
00052     PREEMPTED,
00053     ABORTED,
00054     SUCCEEDED,
00055     LOST
00056   };
00057 
00058   StateEnum state_;
00059   std::string text_;
00060 
00061   SimpleClientGoalState(const StateEnum& state, const std::string& text = std::string("")) : state_(state), text_(text) { }
00062 
00063   inline bool operator==(const SimpleClientGoalState& rhs) const
00064   {
00065     return (state_ == rhs.state_) ;
00066   }
00067 
00068   inline bool operator==(const SimpleClientGoalState::StateEnum& rhs) const
00069   {
00070     return (state_ == rhs);
00071   }
00072 
00073   inline bool operator!=(const SimpleClientGoalState::StateEnum& rhs) const
00074   {
00075     return !(*this == rhs);
00076   }
00077 
00078   inline bool operator!=(const SimpleClientGoalState& rhs) const
00079   {
00080     return !(*this == rhs);
00081   }
00082 
00087   inline bool isDone() const
00088   {
00089     switch(state_)
00090     {
00091       case RECALLED:
00092       case REJECTED:
00093       case PREEMPTED:
00094       case ABORTED:
00095       case SUCCEEDED:
00096       case LOST:
00097         return true;
00098       default:
00099         return false;
00100     }
00101   }
00102 
00103   std::string getText() const
00104   {
00105     return text_;
00106   }
00107 
00109   std::string toString() const
00110   {
00111     switch(state_)
00112     {
00113       case PENDING:
00114         return "PENDING";
00115       case ACTIVE:
00116         return "ACTIVE";
00117       case RECALLED:
00118         return "RECALLED";
00119       case REJECTED:
00120         return "REJECTED";
00121       case PREEMPTED:
00122         return "PREEMPTED";
00123       case ABORTED:
00124         return "ABORTED";
00125       case SUCCEEDED:
00126         return "SUCCEEDED";
00127       case LOST:
00128         return "LOST";
00129       default:
00130         ROS_ERROR_NAMED("actionlib", "BUG: Unhandled SimpleGoalState: %u", state_);
00131         break;
00132     }
00133     return "BUG-UNKNOWN";
00134   }
00135 
00136 };
00137 
00138 }
00139 
00140 #endif // ACTIONLIB_CLIENT_SIMPLE_CLIENT_GOAL_STATE_H_
simple_client_goal_state.h
