graph_search_result_record.h

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#ifndef DESIGNLAB_GRAPH_SEARCH_RESULT_RECORD_H_
#define DESIGNLAB_GRAPH_SEARCH_RESULT_RECORD_H_
 
#include <string>
 
#include <magic_enum.hpp>
 
#include "robot_state_node.h"
 
 
namespace designlab::enums
{
 
enum class Result : int
{
    kSuccess,
    kFailure
};
 
}  // namespace designlab::enums
 
 
namespace designlab
{
 
struct GraphSearchResult final
{
    GraphSearchResult() :
        result(enums::Result::kFailure),
        message("GraphSearchResultは初期化されていません")
    {};
 
    GraphSearchResult(const enums::Result result, const std::string& message) :
        result(result),
        message(message)
    {};
 
    enums::Result result;   
    std::string message;    
 
    std::string ToString() const;
};
 
 
struct GraphSearchResultRecord final
{
    GraphSearchResultRecord() :
        result_node{},
        computation_time(0.0),
        graph_search_result{}
    {
    }
 
    GraphSearchResultRecord(const RobotStateNode& node,
                            const double time, const GraphSearchResult result) :
        result_node(node),
        computation_time(time),
        graph_search_result(result)
    {
    }
 
 
    std::string ToCsvString() const;
 
    static std::string GetCsvHeader();
 
    RobotStateNode result_node;  
 
    double computation_time;  
 
    GraphSearchResult graph_search_result;  
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_GRAPH_SEARCH_RESULT_RECORD_H_