client_goal_status.h
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34 
35 #ifndef ACTIONLIB__CLIENT_GOAL_STATUS_H_
36 #define ACTIONLIB__CLIENT_GOAL_STATUS_H_
37 
38 #include <string>
39 
40 #include "actionlib/GoalStatus.h"
41 #include "ros/console.h"
42 
43 namespace actionlib
44 {
45 
52 {
53 public:
55  enum StateEnum
56  {
64  };
65 
67  {
68  state_ = state;
69  }
70 
77  ClientGoalStatus(const GoalStatus & goal_status)
78  {
79  fromGoalStatus(goal_status);
80  }
81 
86  inline bool isDone() const
87  {
88  if (state_ == PENDING || state_ == ACTIVE) {
89  return false;
90  }
91  return true;
92  }
93 
97  inline const StateEnum & operator=(const StateEnum & state)
98  {
99  state_ = state;
100  return state;
101  }
102 
106  inline bool operator==(const ClientGoalStatus & rhs) const
107  {
108  return state_ == rhs.state_;
109  }
110 
114  inline bool operator!=(const ClientGoalStatus & rhs) const
115  {
116  return !(state_ == rhs.state_);
117  }
118 
125  void fromGoalStatus(const GoalStatus & goal_status)
126  {
127  switch (goal_status.status) {
128  case GoalStatus::PREEMPTED:
130  case GoalStatus::SUCCEEDED:
132  case GoalStatus::ABORTED:
134  case GoalStatus::REJECTED:
136  default:
138  ROS_ERROR_NAMED("actionlib", "Cannot convert GoalStatus %u to ClientGoalState",
139  goal_status.status); break;
140  }
141  }
142 
147  std::string toString() const
148  {
149  switch (state_) {
150  case PENDING:
151  return "PENDING";
152  case ACTIVE:
153  return "ACTIVE";
154  case PREEMPTED:
155  return "PREEMPTED";
156  case SUCCEEDED:
157  return "SUCCEEDED";
158  case ABORTED:
159  return "ABORTED";
160  case REJECTED:
161  return "REJECTED";
162  case LOST:
163  return "LOST";
164  default:
165  ROS_ERROR_NAMED("actionlib", "BUG: Unhandled ClientGoalStatus");
166  break;
167  }
168  return "BUG-UNKNOWN";
169  }
170 
171 private:
173  ClientGoalStatus();
174 };
175 
176 } // namespace actionlib
177 
178 #endif // ACTIONLIB__CLIENT_GOAL_STATUS_H_
StateEnum
Defines the various states the Goal can be in, as perceived by the client.
The goal was preempted by either another goal, or a preempt message being sent to the action server...
bool isDone() const
Check if the goal is in a terminal state.
The goal is currently being processed by the action server.
The goal was sent by the ActionClient, but disappeared due to some communication error.
bool operator==(const ClientGoalStatus &rhs) const
Straightforward enum equality check.
bool operator!=(const ClientGoalStatus &rhs) const
Straightforward enum inequality check.
The ActionServer refused to start processing the goal, possibly because a goal is infeasible...
The goal was aborted by the action server.
void fromGoalStatus(const GoalStatus &goal_status)
Store a GoalStatus in a ClientGoalStatus Note that the only GoalStatuses that can be converted into a...
ClientGoalStatus()
Need to always specific an initial state. Thus, no empty constructor.
std::string toString() const
Stringify the enum.
#define ROS_ERROR_NAMED(name,...)
Thin wrapper around an enum in order to help interpret the client-side status of a goal request The p...
The goal has yet to be processed by the action server.
The goal was achieved successfully by the action server.
const StateEnum & operator=(const StateEnum &state)
Copy the raw enum into the object.
ClientGoalStatus(const GoalStatus &goal_status)
Build a ClientGoalStatus from a GoalStatus. Note that the only GoalStatuses that can be converted int...


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Sun Aug 23 2020 03:32:41