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  /* Author: Mark Moll */
  
  #ifndef OMPL_BASE_PLANNER_STATUS_
  #define OMPL_BASE_PLANNER_STATUS_
  
  #include <string>
  #include <ostream>
  
  namespace ompl
  {
      namespace base
      {
          /// A class to store the exit status of Planner::solve()
          struct PlannerStatus
          {
              /// The possible values of the status returned by a planner
              enum StatusType
              {
                  /// Uninitialized status
                  UNKNOWN = 0,
                  /// Invalid start state or no start state specified
                  INVALID_START,
                  /// Invalid goal state
                  INVALID_GOAL,
                  /// The goal is of a type that a planner does not recognize
                  UNRECOGNIZED_GOAL_TYPE,
                  /// The planner failed to find a solution
                  TIMEOUT,
                  /// The prepare process success 
                  PREPARE_SUCCESS,
                  /// The planner found an approximate solution
                  APPROXIMATE_SOLUTION,
                  /// The planner found an exact solution
                  EXACT_SOLUTION,
                  /// The planner crashed
                  CRASH,
                  /// The planner did not find a solution for some other reason
                  ABORT,
                  /// The number of possible status values
                  TYPE_COUNT
              };
  
              /// Default constructor
              PlannerStatus(StatusType status = UNKNOWN) : status_(status)
              {
              }
  
              /// Convenience constructor that sets status_ based on whether some solution was found (\e hasSolution) and
              /// whether that solution was approximate or not (\e isApproximate)
              PlannerStatus(bool hasSolution, bool isApproximate)
                : status_(hasSolution ? (isApproximate ? APPROXIMATE_SOLUTION : EXACT_SOLUTION) : TIMEOUT)
              {
              }
  
              /// Return a string representation
              std::string asString() const;
              /// Allow casting to true. The value is true iff an approximate or exact solution was found
              operator bool() const
              {
                  return status_ == APPROXIMATE_SOLUTION || status_ == EXACT_SOLUTION;
              }
              /// Allow casting to the enum type StatusType
              operator StatusType() const
              {
                  return status_;
              }
  
          private:
              /// Exit status of calling Planner::solve()
              StatusType status_;
          };
  
          /// Print a PlannerStatus object
          inline std::ostream &operator<<(std::ostream &out, const PlannerStatus &status)
          {
              return out << status.asString();
          }
      }
  }
  
  #endif
  