moveit2
The MoveIt Motion Planning Framework for ROS 2.
moveit_error_code_interface.h
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34 
35 /* Author: Sebastian Jahr
36  Description: Defines an interface for setting and comparing MoveIt error codes.
37  */
38 
39 #pragma once
40 
42 {
43 class MoveItErrorCode : public moveit_msgs::msg::MoveItErrorCodes
44 {
45 public:
47  {
48  val = 0;
49  }
50  MoveItErrorCode(int code)
51  {
52  val = code;
53  }
54  MoveItErrorCode(const moveit_msgs::msg::MoveItErrorCodes& code)
55  {
56  val = code.val;
57  }
58  explicit operator bool() const
59  {
60  return val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
61  }
62  bool operator==(const int code) const
63  {
64  return val == code;
65  }
66  bool operator!=(const int code) const
67  {
68  return val != code;
69  }
70 };
71 } // namespace moveit::hybrid_planning
MoveItErrorCode(const moveit_msgs::msg::MoveItErrorCodes &code)