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/***************************************************************************
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
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