hybrid_planning_events.h

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/* Author: Sebastian Jahr
   Description: Defines events that could occur during hybrid planning
 */
#pragma once
 
namespace moveit::hybrid_planning
{
enum class HybridPlanningEvent
{
  // Occurs when the hybrid planning manager receives a planning request
  HYBRID_PLANNING_REQUEST_RECEIVED,
  // Result of the global planning action
  GLOBAL_PLANNING_ACTION_SUCCESSFUL,
  GLOBAL_PLANNING_ACTION_ABORTED,
  GLOBAL_PLANNING_ACTION_CANCELED,
  GLOBAL_PLANNING_ACTION_REJECTED,
  // Indicates that the global planner found a solution (This solution is not necessarily the last or best solution)
  GLOBAL_SOLUTION_AVAILABLE,
  // Result of the local planning action
  LOCAL_PLANNING_ACTION_SUCCESSFUL,
  LOCAL_PLANNING_ACTION_ABORTED,
  LOCAL_PLANNING_ACTION_CANCELED,
  LOCAL_PLANNING_ACTION_REJECTED,
  // Undefined event to allow empty reaction events to indicate failure
  UNDEFINED
};
 
enum class HybridPlanningAction
{
  DO_NOTHING,
  RETURN_HP_SUCCESS,
  RETURN_HP_FAILURE,
  SEND_GLOBAL_SOLVER_REQUEST,
  SEND_LOCAL_SOLVER_REQUEST
};
}  // namespace moveit::hybrid_planning