moveit_error_code.h

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#pragma once
 
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <string>
 
namespace moveit
{
namespace core
{
class MoveItErrorCode : public moveit_msgs::msg::MoveItErrorCodes
{
public:
  MoveItErrorCode(const int code = moveit_msgs::msg::MoveItErrorCodes::UNDEFINED, const std::string& error_message = "",
                  const std::string& error_source = "")
  {
    val = code;
    message = error_message;
    source = error_source;
  }
  MoveItErrorCode(const moveit_msgs::msg::MoveItErrorCodes& code)
  {
    val = code.val;
    message = code.message;
    source = code.source;
  }
  explicit operator bool() const
  {
    return val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
  }
  bool operator==(const int c) const
  {
    return val == c;
  }
  bool operator!=(const int c) const
  {
    return val != c;
  }
};
 
inline std::string errorCodeToString(const MoveItErrorCode& error_code)
{
  switch (error_code.val)
  {
    case moveit::core::MoveItErrorCode::SUCCESS:
      return std::string("SUCCESS");
    case moveit::core::MoveItErrorCode::UNDEFINED:
      return std::string("UNDEFINED");
    case moveit::core::MoveItErrorCode::FAILURE:
      return std::string("FAILURE");
    case moveit::core::MoveItErrorCode::PLANNING_FAILED:
      return std::string("PLANNING_FAILED");
    case moveit::core::MoveItErrorCode::INVALID_MOTION_PLAN:
      return std::string("INVALID_MOTION_PLAN");
    case moveit::core::MoveItErrorCode::MOTION_PLAN_INVALIDATED_BY_ENVIRONMENT_CHANGE:
      return std::string("MOTION_PLAN_INVALIDATED_BY_ENVIRONMENT_CHANGE");
    case moveit::core::MoveItErrorCode::CONTROL_FAILED:
      return std::string("CONTROL_FAILED");
    case moveit::core::MoveItErrorCode::UNABLE_TO_AQUIRE_SENSOR_DATA:
      return std::string("UNABLE_TO_AQUIRE_SENSOR_DATA");
    case moveit::core::MoveItErrorCode::TIMED_OUT:
      return std::string("TIMED_OUT");
    case moveit::core::MoveItErrorCode::PREEMPTED:
      return std::string("PREEMPTED");
    case moveit::core::MoveItErrorCode::START_STATE_IN_COLLISION:
      return std::string("START_STATE_IN_COLLISION");
    case moveit::core::MoveItErrorCode::START_STATE_VIOLATES_PATH_CONSTRAINTS:
      return std::string("START_STATE_VIOLATES_PATH_CONSTRAINTS");
    case moveit::core::MoveItErrorCode::START_STATE_INVALID:
      return std::string("START_STATE_INVALID");
    case moveit::core::MoveItErrorCode::GOAL_IN_COLLISION:
      return std::string("GOAL_IN_COLLISION");
    case moveit::core::MoveItErrorCode::GOAL_VIOLATES_PATH_CONSTRAINTS:
      return std::string("GOAL_VIOLATES_PATH_CONSTRAINTS");
    case moveit::core::MoveItErrorCode::GOAL_CONSTRAINTS_VIOLATED:
      return std::string("GOAL_CONSTRAINTS_VIOLATED");
    case moveit::core::MoveItErrorCode::GOAL_STATE_INVALID:
      return std::string("GOAL_STATE_INVALID");
    case moveit::core::MoveItErrorCode::UNRECOGNIZED_GOAL_TYPE:
      return std::string("UNRECOGNIZED_GOAL_TYPE");
    case moveit::core::MoveItErrorCode::INVALID_GROUP_NAME:
      return std::string("INVALID_GROUP_NAME");
    case moveit::core::MoveItErrorCode::INVALID_GOAL_CONSTRAINTS:
      return std::string("INVALID_GOAL_CONSTRAINTS");
    case moveit::core::MoveItErrorCode::INVALID_ROBOT_STATE:
      return std::string("INVALID_ROBOT_STATE");
    case moveit::core::MoveItErrorCode::INVALID_LINK_NAME:
      return std::string("INVALID_LINK_NAME");
    case moveit::core::MoveItErrorCode::INVALID_OBJECT_NAME:
      return std::string("INVALID_OBJECT_NAME");
    case moveit::core::MoveItErrorCode::FRAME_TRANSFORM_FAILURE:
      return std::string("FRAME_TRANSFORM_FAILURE");
    case moveit::core::MoveItErrorCode::COLLISION_CHECKING_UNAVAILABLE:
      return std::string("COLLISION_CHECKING_UNAVAILABLE");
    case moveit::core::MoveItErrorCode::ROBOT_STATE_STALE:
      return std::string("ROBOT_STATE_STALE");
    case moveit::core::MoveItErrorCode::SENSOR_INFO_STALE:
      return std::string("SENSOR_INFO_STALE");
    case moveit::core::MoveItErrorCode::COMMUNICATION_FAILURE:
      return std::string("COMMUNICATION_FAILURE");
    case moveit::core::MoveItErrorCode::CRASH:
      return std::string("CRASH");
    case moveit::core::MoveItErrorCode::ABORT:
      return std::string("ABORT");
    case moveit::core::MoveItErrorCode::NO_IK_SOLUTION:
      return std::string("NO_IK_SOLUTION");
  }
  return std::string("Unrecognized MoveItErrorCode. This should never happen!");
}
 
}  // namespace core
}  // namespace moveit