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Diffstat (limited to 'intern/itasc/kdl/utilities/error.h')
| -rw-r--r-- | intern/itasc/kdl/utilities/error.h | 245 |
1 files changed, 245 insertions, 0 deletions
diff --git a/intern/itasc/kdl/utilities/error.h b/intern/itasc/kdl/utilities/error.h new file mode 100644 index 00000000000..868daef3db3 --- /dev/null +++ b/intern/itasc/kdl/utilities/error.h @@ -0,0 +1,245 @@ +/*************************************************************************** + tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 error.h + + error.h - description + ------------------- + begin : Mon January 10 2005 + copyright : (C) 2005 Erwin Aertbelien + email : erwin.aertbelien@mech.kuleuven.ac.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU Lesser General Public * + * License as published by the Free Software Foundation; either * + * version 2.1 of the License, or (at your option) any later version. * + * * + * This library 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 * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU Lesser General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + +/***************************************************************************** + * \file + * Defines the exception classes that can be thrown + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par History + * - $log$ + * + * \par Release + * $Id$ + * $Name: $ + ****************************************************************************/ +#ifndef ERROR_H_84822 // to make it unique, a random number +#define ERROR_H_84822 + +#include "utility.h" +#include <string> + +namespace KDL { + +/** + * Base class for errors generated by ORO_Geometry + */ +class Error { +public: + /** Returns a description string describing the error. + * the returned pointer only garanteed to exists as long as + * the Error object exists. + */ + virtual ~Error() {} + virtual const char* Description() const {return "Unspecified Error\n";} + + virtual int GetType() const {return 0;} +}; + + +class Error_IO : public Error { + std::string msg; + int typenr; +public: + Error_IO(const std::string& _msg="Unspecified I/O Error",int typenr=0):msg(_msg) {} + virtual const char* Description() const {return msg.c_str();} + virtual int GetType() const {return typenr;} +}; +class Error_BasicIO : public Error_IO {}; +class Error_BasicIO_File : public Error_BasicIO { +public: + virtual const char* Description() const {return "Error while reading stream";} + virtual int GetType() const {return 1;} +}; +class Error_BasicIO_Exp_Delim : public Error_BasicIO { +public: + virtual const char* Description() const {return "Expected Delimiter not encountered";} + virtual int GetType() const {return 2;} +}; +class Error_BasicIO_Not_A_Space : public Error_BasicIO { +public: + virtual const char* Description() const {return "Expected space,tab or newline not encountered";} + virtual int GetType() const {return 3;} +}; +class Error_BasicIO_Unexpected : public Error_BasicIO { +public: + virtual const char* Description() const {return "Unexpected character";} + virtual int GetType() const {return 4;} +}; + +class Error_BasicIO_ToBig : public Error_BasicIO { +public: + virtual const char* Description() const {return "Word that is read out of stream is bigger than maxsize";} + virtual int GetType() const {return 5;} +}; + +class Error_BasicIO_Not_Opened : public Error_BasicIO { +public: + virtual const char* Description() const {return "File cannot be opened";} + virtual int GetType() const {return 6;} +}; +class Error_FrameIO : public Error_IO {}; +class Error_Frame_Vector_Unexpected_id : public Error_FrameIO { +public: + virtual const char* Description() const {return "Unexpected identifier, expecting a vector (explicit or ZERO)";} + virtual int GetType() const {return 101;} +}; +class Error_Frame_Frame_Unexpected_id : public Error_FrameIO { +public: + virtual const char* Description() const {return "Unexpected identifier, expecting a Frame (explicit or DH)";} + virtual int GetType() const {return 102;} +}; +class Error_Frame_Rotation_Unexpected_id : public Error_FrameIO { +public: + virtual const char* Description() const {return "Unexpected identifier, expecting a Rotation (explicit or EULERZYX, EULERZYZ, RPY,ROT,IDENTITY)";} + virtual int GetType() const {return 103;} +}; +class Error_ChainIO : public Error {}; +class Error_Chain_Unexpected_id : public Error_ChainIO { +public: + virtual const char* Description() const {return "Unexpected identifier, expecting TRANS or ROT";} + virtual int GetType() const {return 201;} +}; +//! Error_Redundancy indicates an error that occured during solving for redundancy. +class Error_RedundancyIO:public Error_IO {}; +class Error_Redundancy_Illegal_Resolutiontype : public Error_RedundancyIO { +public: + virtual const char* Description() const {return "Illegal Resolutiontype is used in I/O with ResolutionTask";} + virtual int GetType() const {return 301;} +}; +class Error_Redundancy:public Error {}; +class Error_Redundancy_Unavoidable : public Error_Redundancy { +public: + virtual const char* Description() const {return "Joint limits cannot be avoided";} + virtual int GetType() const {return 1002;} +}; +class Error_Redundancy_Low_Manip: public Error_Redundancy { +public: + virtual const char* Description() const {return "Manipulability is very low";} + virtual int GetType() const {return 1003;} +}; +class Error_MotionIO : public Error {}; +class Error_MotionIO_Unexpected_MotProf : public Error_MotionIO { +public: + virtual const char* Description() const { return "Wrong keyword while reading motion profile";} + virtual int GetType() const {return 2001;} +}; +class Error_MotionIO_Unexpected_Traj : public Error_MotionIO { +public: + virtual const char* Description() const { return "Trajectory type keyword not known";} + virtual int GetType() const {return 2002;} +}; + +class Error_MotionPlanning : public Error {}; + +class Error_MotionPlanning_Circle_ToSmall : public Error_MotionPlanning { +public: + virtual const char* Description() const { return "Circle : radius is to small";} + virtual int GetType() const {return 3001;} +}; + +class Error_MotionPlanning_Circle_No_Plane : public Error_MotionPlanning { +public: + virtual const char* Description() const { return "Circle : Plane for motion is not properly defined";} + virtual int GetType() const {return 3002;} +}; + +class Error_MotionPlanning_Incompatible: public Error_MotionPlanning { +public: + virtual const char* Description() const { return "Acceleration of a rectangular velocityprofile cannot be used";} + virtual int GetType() const {return 3003;} +}; + +class Error_MotionPlanning_Not_Feasible: public Error_MotionPlanning { +public: + virtual const char* Description() const { return "Motion Profile with requested parameters is not feasible";} + virtual int GetType() const {return 3004;} +}; + +class Error_MotionPlanning_Not_Applicable: public Error_MotionPlanning { +public: + virtual const char* Description() const { return "Method is not applicable for this derived object";} + virtual int GetType() const {return 3004;} +}; +//! Abstract subclass of all errors that can be thrown by Adaptive_Integrator +class Error_Integrator : public Error {}; + +//! Error_Stepsize_Underflow is thrown if the stepsize becomes to small +class Error_Stepsize_Underflow : public Error_Integrator { +public: + virtual const char* Description() const { return "Stepsize Underflow";} + virtual int GetType() const {return 4001;} +}; + +//! Error_To_Many_Steps is thrown if the number of steps needed to +//! integrate to the desired accuracy becomes to big. +class Error_To_Many_Steps : public Error_Integrator { +public: + virtual const char* Description() const { return "To many steps"; } + virtual int GetType() const {return 4002;} +}; + +//! Error_Stepsize_To_Small is thrown if the stepsize becomes to small +class Error_Stepsize_To_Small : public Error_Integrator { +public: + virtual const char* Description() const { return "Stepsize to small"; } + virtual int GetType() const {return 4003;} +}; + +class Error_Criterium : public Error {}; + +class Error_Criterium_Unexpected_id: public Error_Criterium { +public: + virtual const char* Description() const { return "Unexpected identifier while reading a criterium"; } + virtual int GetType() const {return 5001;} +}; + +class Error_Limits : public Error {}; + +class Error_Limits_Unexpected_id: public Error_Limits { +public: + virtual const char* Description() const { return "Unexpected identifier while reading a jointlimits"; } + virtual int GetType() const {return 6001;} +}; + + +class Error_Not_Implemented: public Error { +public: + virtual const char* Description() const { return "The requested object/method/function is not implemented"; } + virtual int GetType() const {return 7000;} +}; + + + +} + +#endif |