moveit_error_code_interface.h

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/* Author: Sebastian Jahr
   Description: Defines an interface for setting and comparing MoveIt error codes.
 */
 
#pragma once
 
namespace moveit::hybrid_planning
{
class MoveItErrorCode : public moveit_msgs::msg::MoveItErrorCodes
{
public:
  MoveItErrorCode()
  {
    val = 0;
  }
  MoveItErrorCode(int code)
  {
    val = code;
  }
  MoveItErrorCode(const moveit_msgs::msg::MoveItErrorCodes& code)
  {
    val = code.val;
  }
  explicit operator bool() const
  {
    return val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
  }
  bool operator==(const int code) const
  {
    return val == code;
  }
  bool operator!=(const int code) const
  {
    return val != code;
  }
};
}  // namespace moveit::hybrid_planning