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00035 #ifndef ACTIONLIB__CLIENT__SIMPLE_CLIENT_GOAL_STATE_H_
00036 #define ACTIONLIB__CLIENT__SIMPLE_CLIENT_GOAL_STATE_H_
00037
00038 #include <string>
00039
00040 namespace actionlib
00041 {
00042
00043 class SimpleClientGoalState
00044 {
00045 public:
00047 enum StateEnum
00048 {
00049 PENDING,
00050 ACTIVE,
00051 RECALLED,
00052 REJECTED,
00053 PREEMPTED,
00054 ABORTED,
00055 SUCCEEDED,
00056 LOST
00057 };
00058
00059 StateEnum state_;
00060 std::string text_;
00061
00062 SimpleClientGoalState(const StateEnum & state,
00063 const std::string & text = std::string(""))
00064 : state_(state), text_(text) {}
00065
00066 inline bool operator==(const SimpleClientGoalState & rhs) const
00067 {
00068 return state_ == rhs.state_;
00069 }
00070
00071 inline bool operator==(const SimpleClientGoalState::StateEnum & rhs) const
00072 {
00073 return state_ == rhs;
00074 }
00075
00076 inline bool operator!=(const SimpleClientGoalState::StateEnum & rhs) const
00077 {
00078 return !(*this == rhs);
00079 }
00080
00081 inline bool operator!=(const SimpleClientGoalState & rhs) const
00082 {
00083 return !(*this == rhs);
00084 }
00085
00090 inline bool isDone() const
00091 {
00092 switch (state_) {
00093 case RECALLED:
00094 case REJECTED:
00095 case PREEMPTED:
00096 case ABORTED:
00097 case SUCCEEDED:
00098 case LOST:
00099 return true;
00100 default:
00101 return false;
00102 }
00103 }
00104
00105 std::string getText() const
00106 {
00107 return text_;
00108 }
00109
00111 std::string toString() const
00112 {
00113 switch (state_) {
00114 case PENDING:
00115 return "PENDING";
00116 case ACTIVE:
00117 return "ACTIVE";
00118 case RECALLED:
00119 return "RECALLED";
00120 case REJECTED:
00121 return "REJECTED";
00122 case PREEMPTED:
00123 return "PREEMPTED";
00124 case ABORTED:
00125 return "ABORTED";
00126 case SUCCEEDED:
00127 return "SUCCEEDED";
00128 case LOST:
00129 return "LOST";
00130 default:
00131 ROS_ERROR_NAMED("actionlib", "BUG: Unhandled SimpleGoalState: %u", state_);
00132 break;
00133 }
00134 return "BUG-UNKNOWN";
00135 }
00136 };
00137
00138 }
00139
00140 #endif // ACTIONLIB__CLIENT__SIMPLE_CLIENT_GOAL_STATE_H_