tools.h
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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 }


object_manipulation_msgs
Author(s): Matei Ciocarlie
autogenerated on Mon Oct 6 2014 02:58:12