tools.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2009, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include <string> 00031 00032 #include "object_manipulation_msgs/GraspResult.h" 00033 #include "object_manipulation_msgs/PlaceLocationResult.h" 00034 00035 namespace object_manipulation_msgs { 00036 00037 inline std::string getGraspResultInfo(GraspResult result) 00038 { 00039 switch (result.result_code) 00040 { 00041 case GraspResult::SUCCESS: return ("grasp success"); 00042 case GraspResult::GRASP_OUT_OF_REACH: return ("grasp out of reach"); 00043 case GraspResult::GRASP_IN_COLLISION: return ("grasp in collision"); 00044 case GraspResult::GRASP_UNFEASIBLE: return ("grasp unfeasible"); 00045 case GraspResult::PREGRASP_OUT_OF_REACH: return ("pregrasp out of reach"); 00046 case GraspResult::PREGRASP_IN_COLLISION: return ("pregrasp in collision"); 00047 case GraspResult::PREGRASP_UNFEASIBLE: return ("pregrasp unfeasible"); 00048 case GraspResult::LIFT_OUT_OF_REACH: return ("lift position out of reach"); 00049 case GraspResult::LIFT_IN_COLLISION: return ("lift position in collision"); 00050 case GraspResult::LIFT_UNFEASIBLE: return ("lift position unfeasible"); 00051 case GraspResult::MOVE_ARM_FAILED: return ("arm movement failed"); 00052 case GraspResult::GRASP_FAILED: return ("grasp failed"); 00053 case GraspResult::LIFT_FAILED: return ("lift failed"); 00054 case GraspResult::RETREAT_FAILED: return ("retreat failed"); 00055 default: return("unknown result code returned"); 00056 } 00057 } 00058 00059 inline std::string getPlaceLocationResultInfo(PlaceLocationResult result) 00060 { 00061 switch (result.result_code) 00062 { 00063 case PlaceLocationResult::SUCCESS: return ("place success"); 00064 case PlaceLocationResult::PLACE_OUT_OF_REACH: return ("place location out of reach"); 00065 case PlaceLocationResult::PLACE_IN_COLLISION: return ("place location in collision"); 00066 case PlaceLocationResult::PLACE_UNFEASIBLE: return ("place in location unfeasible"); 00067 case PlaceLocationResult::PREPLACE_OUT_OF_REACH: return ("preplace location out of reach"); 00068 case PlaceLocationResult::PREPLACE_IN_COLLISION: return ("preplace location in collision"); 00069 case PlaceLocationResult::PREPLACE_UNFEASIBLE: return ("preplace location unfeasible"); 00070 case PlaceLocationResult::RETREAT_OUT_OF_REACH: return ("retreat location out of reach"); 00071 case PlaceLocationResult::RETREAT_IN_COLLISION: return ("retreat location in collision"); 00072 case PlaceLocationResult::RETREAT_UNFEASIBLE: return ("retreat location unfeasible"); 00073 case PlaceLocationResult::MOVE_ARM_FAILED: return ("arm movement failed"); 00074 case PlaceLocationResult::PLACE_FAILED: return ("place failed"); 00075 case PlaceLocationResult::RETREAT_FAILED: return ("retreat failed"); 00076 default: return("unknown result code returned"); 00077 } 00078 } 00079 00080 }