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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_