constants.h

Go to the documentation of this file.

/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @author     Christian R. G. Dreher ( c dot dreher at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <cstdint>
#include <string>
 
#include <SimoxUtility/meta/enum/EnumNames.hpp>
 
namespace armarx::navigation::core
{
 
    const inline std::string NAME_KEY = "name";
    const inline std::string PARAMS_KEY = "params";
 
    enum class StackLayer : std::uint8_t
    {
        GeneralConfig,
        GlobalPlanner,
        LocalPlanner,
        TrajectoryController,
        SafetyGuard,
        GoalReachedConfig
    };
 
    const inline simox::meta::EnumNames<StackLayer> StackLayerNames{
        {StackLayer::GeneralConfig, "GeneralConfig"},
        {StackLayer::GlobalPlanner, "GlobalPlanner"},
        {StackLayer::LocalPlanner, "LocalPlanner"},
        {StackLayer::TrajectoryController, "TrajectoryController"},
        {StackLayer::SafetyGuard, "SafetyGuard"},
        {StackLayer::GoalReachedConfig, "GoalReachedConfig"}};
 
} // namespace armarx::navigation::core