simple_goal_state.h

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#ifndef ACTIONLIB__CLIENT__SIMPLE_GOAL_STATE_H_
#define ACTIONLIB__CLIENT__SIMPLE_GOAL_STATE_H_
 
#include <string>
#include "ros/console.h"
 
namespace actionlib
{
 
class SimpleGoalState
{
public:
  enum StateEnum
  {
    PENDING,
    ACTIVE,
    DONE
  };
 
  SimpleGoalState(const StateEnum & state)
  : state_(state) {}
 
  inline bool operator==(const SimpleGoalState & rhs) const
  {
    return state_ == rhs.state_;
  }
 
  inline bool operator==(const SimpleGoalState::StateEnum & rhs) const
  {
    return state_ == rhs;
  }
 
  inline bool operator!=(const SimpleGoalState::StateEnum & rhs) const
  {
    return !(*this == rhs);
  }
 
  inline bool operator!=(const SimpleGoalState & rhs) const
  {
    return !(*this == rhs);
  }
 
  std::string toString() const
  {
    switch (state_) {
      case PENDING:
        return "PENDING";
      case ACTIVE:
        return "ACTIVE";
      case DONE:
        return "DONE";
      default:
        ROS_ERROR_NAMED("actionlib", "BUG: Unhandled SimpleGoalState: %u", state_);
        break;
    }
    return "BUG-UNKNOWN";
  }
 
  StateEnum state_;
 
private:
  SimpleGoalState();
};
 
}  // namespace actionlib
 
#endif  // ACTIONLIB__CLIENT__SIMPLE_GOAL_STATE_H_