actionlib: terminal_state.h Source File

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00034 
00035 #ifndef ACTIONLIB_CLIENT_TERMINAL_STATE_H_
00036 #define ACTIONLIB_CLIENT_TERMINAL_STATE_H_
00037 
00038 namespace actionlib
00039 {
00040 
00041 class TerminalState
00042 {
00043 public:
00044   enum StateEnum
00045   {
00046     RECALLED,
00047     REJECTED,
00048     PREEMPTED,
00049     ABORTED,
00050     SUCCEEDED,
00051     LOST
00052   } ;
00053 
00054   TerminalState(const StateEnum& state, const std::string& text = std::string("")) : state_(state), text_(text) { }
00055 
00056   inline bool operator==(const TerminalState& rhs) const
00057   {
00058     return (state_ == rhs.state_) ;
00059   }
00060 
00061   inline bool operator==(const TerminalState::StateEnum& rhs) const
00062   {
00063     return (state_ == rhs);
00064   }
00065 
00066   inline bool operator!=(const TerminalState::StateEnum& rhs) const
00067   {
00068     return !(*this == rhs);
00069   }
00070 
00071   inline bool operator!=(const TerminalState& rhs) const
00072   {
00073     return !(*this == rhs);
00074   }
00075 
00076   std::string getText() const
00077   {
00078     return text_;
00079   }
00080 
00081   std::string toString() const
00082   {
00083     switch(state_)
00084     {
00085       case RECALLED:
00086         return "RECALLED";
00087       case REJECTED:
00088         return "REJECTED";
00089       case PREEMPTED:
00090         return "PREEMPTED";
00091       case ABORTED:
00092         return "ABORTED";
00093       case SUCCEEDED:
00094         return "SUCCEEDED";
00095       case LOST:
00096         return "LOST";
00097 
00098       default:
00099         ROS_ERROR("BUG: Unhandled TerminalState: %u", state_);
00100         break;
00101     }
00102     return "BUG-UNKNOWN";
00103   }
00104 
00105   StateEnum state_;
00106   std::string text_;
00107 private:
00108   TerminalState();
00109 
00110 } ;
00111 
00112 }
00113 
00114 #endif