feedback_types.h

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/* Author: Andy Zelenak
   Description: Define the expected local planner feedback types (usually equivalent to failure
   modes).
 */
 
#pragma once
 
#include <string>
#include <string_view>
#include <unordered_map>
 
namespace moveit::hybrid_planning
{
enum LocalFeedbackEnum
{
  COLLISION_AHEAD = 1,
  LOCAL_PLANNER_STUCK = 2
};
 
[[nodiscard]] constexpr std::string_view toString(const LocalFeedbackEnum& code)
{
  switch (code)
  {
    case COLLISION_AHEAD:
      return "Collision ahead";
    case LOCAL_PLANNER_STUCK:
      return "Local planner is stuck";
    default:
      __builtin_unreachable();
  }
}
}  // namespace moveit::hybrid_planning