moveit2
The MoveIt Motion Planning Framework for ROS 2.
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feedback_types.h
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34
35/* Author: Andy Zelenak
36 Description: Define the expected local planner feedback types (usually equivalent to failure
37 modes).
38 */
39
40#pragma once
41
42#include <string>
43#include <string_view>
44#include <unordered_map>
45
47{
56
57[[nodiscard]] constexpr std::string_view toString(const LocalFeedbackEnum& code)
58{
59 switch (code)
60 {
61 case COLLISION_AHEAD:
62 return "Collision ahead";
64 return "Local planner is stuck";
65 default:
66 __builtin_unreachable();
67 }
68}
69} // namespace moveit::hybrid_planning
LocalFeedbackEnum
Expected feedback types.
constexpr std::string_view toString(const LocalFeedbackEnum &code)