NavBehavior.h

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/* -*- mode: C++ -*-
 * 
 *  Copyright (C) 2007, 2010, Austin Robot Technology
 *
 *  License: Modified BSD Software License Agreement
 *
 *  $Id: NavBehavior.h 996 2011-02-27 16:07:34Z jack.oquin $
 *
 *  Author: Jack O'Quin
 */

#ifndef __NAV_BEHAVIORS_H__
#define __NAV_BEHAVIORS_H__

#include <ostream>
#include <art_msgs/Behavior.h>

class NavBehavior
{
public:

  // Navigator behaviors (lower numbers have higher priority)
  typedef enum
    {
      Abort = art_msgs::Behavior::Abort,
      Quit = art_msgs::Behavior::Quit,
      Pause = art_msgs::Behavior::Pause,
      Run = art_msgs::Behavior::Run,
      Suspend = art_msgs::Behavior::Suspend,
      Initialize = art_msgs::Behavior::Initialize,
      Go = art_msgs::Behavior::Go,
      None = art_msgs::Behavior::NONE,
      N_behaviors = art_msgs::Behavior::N_behaviors
    } nav_behavior_t;

  // return behavior name as a C string
  const char *Name(void) const
  {
    static const char *behavior_name[N_behaviors] =
      {
        "Abort",
        "Quit",
        "Pause",
        "Run",
        "Suspend",
        "Initialize",
        "Go",
        "None",
      };
    return behavior_name[this->behavior];
  }

  NavBehavior()
  {
    this->behavior = None;
  }

  NavBehavior(nav_behavior_t &ibehavior)
  {
    this->behavior = ibehavior;
  }

  NavBehavior(const art_msgs::Behavior &behavior_msg)
  {
    this->behavior = (nav_behavior_t) behavior_msg.value;
  }

  ~NavBehavior();

  nav_behavior_t Value(void)
  {
    return this->behavior;
  }

  void operator=(const NavBehavior &newval)
  {
    this->behavior = newval.behavior;
  }

  bool operator==(const NavBehavior compare)
  {
    return this->behavior == compare.behavior;
  }

  bool operator!=(const NavBehavior compare)
  {
    return this->behavior != compare.behavior;
  }

  void operator=(const NavBehavior::nav_behavior_t &newbehavior)
  {
    this->behavior = newbehavior;
  }

  bool operator==(const nav_behavior_t &compare)
  {
    return this->behavior == compare;
  }

  bool operator!=(const nav_behavior_t &compare)
  {
    return this->behavior != compare;
  }

private:
  nav_behavior_t behavior;
};

//std::ostream& operator<<(std::ostream &out, const NavBehavior &behavior)
//  {
//    out << behavior.Name();
//    return out;
//  }

#endif // __NAV_BEHAVIORS_H__