.. _pilot.local_planner_state_e:

pilot.local_planner_state_e
===========================

.. cpp:namespace:: pilot::local_planner_state_e

Enumeration
-----------

Possible states of the :ref:`LocalPlanner`.

.. cpp:enumerator:: IDLE
	
	Waiting for a job / goal.
	
.. cpp:enumerator:: WAITING
	
	Waiting to move, due to several possible reasons, for example waiting for localization to intialize.
	
.. cpp:enumerator:: TRANSLATING
	
	Moving in X / Y direction, can include rotation also.
	
.. cpp:enumerator:: ROTATING
	
	Rotating in place, without X / Y movement.
	
.. cpp:enumerator:: ADJUSTING
	
	Rotating in place while making small adjustments in X / Y position. For `differential` kinematics only.
	
.. cpp:enumerator:: TURNING
	
	Rotating in place to turn around. For `differential` kinematics only.
	
.. cpp:enumerator:: STUCK
	
	Unable to continue for now, due to obstacles in the path.
	
.. cpp:enumerator:: FINISHED
	
	Current goal has been reached, waiting for new job / goal.
	
.. cpp:enumerator:: CANCELED
	
	Current goal has been canceled, stopping now.
	
.. cpp:enumerator:: LOST
	
	Current position could not be matched to the given path, requesting new path.