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error.h
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1 /***************************************************************************
2  tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 error.h
3 
4  error.h - description
5  -------------------
6  begin : Mon January 10 2005
7  copyright : (C) 2005 Erwin Aertbelien
8  email : erwin.aertbelien@mech.kuleuven.ac.be
9 
10  ***************************************************************************
11  * This library is free software; you can redistribute it and/or *
12  * modify it under the terms of the GNU Lesser General Public *
13  * License as published by the Free Software Foundation; either *
14  * version 2.1 of the License, or (at your option) any later version. *
15  * *
16  * This library is distributed in the hope that it will be useful, *
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19  * Lesser General Public License for more details. *
20  * *
21  * You should have received a copy of the GNU Lesser General Public *
22  * License along with this library; if not, write to the Free Software *
23  * Foundation, Inc., 51 Franklin Street, *
24  * Fifth Floor, Boston, MA 02110-1301, USA. *
25  * *
26  ***************************************************************************/
27 
28 
29 /*****************************************************************************
30  * \file
31  * Defines the exception classes that can be thrown
32  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
33  *
34  * \version
35  * ORO_Geometry V0.2
36  *
37  * \par History
38  * - $log$
39  *
40  * \par Release
41  * $Name: $
42  ****************************************************************************/
43 #ifndef ERROR_H_84822 // to make it unique, a random number
44 #define ERROR_H_84822
45 
46 #include "utility.h"
47 #include <string>
48 
49 namespace KDL {
50 
54 class Error {
55 public:
60  virtual ~Error() {}
61  virtual const char* Description() const {return "Unspecified Error\n";}
62 
63  virtual int GetType() const {return 0;}
64 };
65 
66 
67 class Error_IO : public Error {
68  std::string msg;
69  int typenr;
70 public:
71  Error_IO(const std::string& _msg="Unspecified I/O Error",int typenr=0):msg(_msg) {}
72  virtual const char* Description() const {return msg.c_str();}
73  virtual int GetType() const {return typenr;}
74 };
75 class Error_BasicIO : public Error_IO {};
77 public:
78  virtual const char* Description() const {return "Error while reading stream";}
79  virtual int GetType() const {return 1;}
80 };
82 public:
83  virtual const char* Description() const {return "Expected Delimiter not encountered";}
84  virtual int GetType() const {return 2;}
85 };
87 public:
88  virtual const char* Description() const {return "Expected space,tab or newline not encountered";}
89  virtual int GetType() const {return 3;}
90 };
92 public:
93  virtual const char* Description() const {return "Unexpected character";}
94  virtual int GetType() const {return 4;}
95 };
96 
98 public:
99  virtual const char* Description() const {return "Word that is read out of stream is bigger than maxsize";}
100  virtual int GetType() const {return 5;}
101 };
102 
104 public:
105  virtual const char* Description() const {return "File cannot be opened";}
106  virtual int GetType() const {return 6;}
107 };
108 class Error_FrameIO : public Error_IO {};
110 public:
111  virtual const char* Description() const {return "Unexpected identifier, expecting a vector (explicit or ZERO)";}
112  virtual int GetType() const {return 101;}
113 };
115 public:
116  virtual const char* Description() const {return "Unexpected identifier, expecting a Frame (explicit or DH)";}
117  virtual int GetType() const {return 102;}
118 };
120 public:
121  virtual const char* Description() const {return "Unexpected identifier, expecting a Rotation (explicit or EULERZYX, EULERZYZ, RPY,ROT,IDENTITY)";}
122  virtual int GetType() const {return 103;}
123 };
124 class Error_ChainIO : public Error {};
126 public:
127  virtual const char* Description() const {return "Unexpected identifier, expecting TRANS or ROT";}
128  virtual int GetType() const {return 201;}
129 };
131 class Error_RedundancyIO:public Error_IO {};
133 public:
134  virtual const char* Description() const {return "Illegal Resolutiontype is used in I/O with ResolutionTask";}
135  virtual int GetType() const {return 301;}
136 };
137 class Error_Redundancy:public Error {};
139 public:
140  virtual const char* Description() const {return "Joint limits cannot be avoided";}
141  virtual int GetType() const {return 1002;}
142 };
144 public:
145  virtual const char* Description() const {return "Manipulability is very low";}
146  virtual int GetType() const {return 1003;}
147 };
148 class Error_MotionIO : public Error {};
150 public:
151  virtual const char* Description() const { return "Wrong keyword while reading motion profile";}
152  virtual int GetType() const {return 2001;}
153 };
155 public:
156  virtual const char* Description() const { return "Trajectory type keyword not known";}
157  virtual int GetType() const {return 2002;}
158 };
159 
160 class Error_MotionPlanning : public Error {};
161 
163 public:
164  virtual const char* Description() const { return "Circle : radius is too small";}
165  virtual int GetType() const {return 3001;}
166 };
167 
169 public:
170  virtual const char* Description() const { return "Circle : Plane for motion is not properly defined";}
171  virtual int GetType() const {return 3002;}
172 };
173 
175 public:
176  virtual const char* Description() const { return "Acceleration of a rectangular velocityprofile cannot be used";}
177  virtual int GetType() const {return 3003;}
178 };
179 
181 public:
182  virtual const char* Description() const { return "Motion Profile with requested parameters is not feasible";}
183  virtual int GetType() const {return 3004;}
184 };
185 
187 public:
188  virtual const char* Description() const { return "Method is not applicable for this derived object";}
189  virtual int GetType() const {return 3004;}
190 };
192 class Error_Integrator : public Error {};
193 
196 public:
197  virtual const char* Description() const { return "Stepsize Underflow";}
198  virtual int GetType() const {return 4001;}
199 };
200 
204 public:
205  virtual const char* Description() const { return "To many steps"; }
206  virtual int GetType() const {return 4002;}
207 };
208 
211 public:
212  virtual const char* Description() const { return "Stepsize to small"; }
213  virtual int GetType() const {return 4003;}
214 };
215 
216 class Error_Criterium : public Error {};
217 
219 public:
220  virtual const char* Description() const { return "Unexpected identifier while reading a criterium"; }
221  virtual int GetType() const {return 5001;}
222 };
223 
224 class Error_Limits : public Error {};
225 
227 public:
228  virtual const char* Description() const { return "Unexpected identifier while reading a jointlimits"; }
229  virtual int GetType() const {return 6001;}
230 };
231 
232 
234 public:
235  virtual const char* Description() const { return "The requested object/method/function is not implemented"; }
236  virtual int GetType() const {return 7000;}
237 };
238 
239 
240 
241 }
242 
243 #endif
virtual int GetType() const
Definition: error.h:84
virtual const char * Description() const
Definition: error.h:83
virtual int GetType() const
Definition: error.h:79
virtual const char * Description() const
Definition: error.h:78
virtual const char * Description() const
Definition: error.h:88
virtual int GetType() const
Definition: error.h:89
virtual int GetType() const
Definition: error.h:106
virtual const char * Description() const
Definition: error.h:105
virtual int GetType() const
Definition: error.h:100
virtual const char * Description() const
Definition: error.h:99
virtual const char * Description() const
Definition: error.h:93
virtual int GetType() const
Definition: error.h:94
virtual const char * Description() const
Definition: error.h:127
virtual int GetType() const
Definition: error.h:128
virtual int GetType() const
Definition: error.h:221
virtual const char * Description() const
Definition: error.h:220
virtual const char * Description() const
Definition: error.h:116
virtual int GetType() const
Definition: error.h:117
virtual const char * Description() const
Definition: error.h:121
virtual const char * Description() const
Definition: error.h:111
virtual int GetType() const
Definition: error.h:112
virtual const char * Description() const
Definition: error.h:72
virtual int GetType() const
Definition: error.h:73
Error_IO(const std::string &_msg="Unspecified I/O Error", int typenr=0)
Definition: error.h:71
Abstract subclass of all errors that can be thrown by Adaptive_Integrator.
Definition: error.h:192
virtual const char * Description() const
Definition: error.h:228
virtual int GetType() const
Definition: error.h:229
virtual const char * Description() const
Definition: error.h:151
virtual int GetType() const
Definition: error.h:152
virtual const char * Description() const
Definition: error.h:156
virtual int GetType() const
Definition: error.h:157
virtual const char * Description() const
Definition: error.h:170
virtual const char * Description() const
Definition: error.h:164
virtual int GetType() const
Definition: error.h:177
virtual const char * Description() const
Definition: error.h:176
virtual const char * Description() const
Definition: error.h:188
virtual const char * Description() const
Definition: error.h:182
virtual int GetType() const
Definition: error.h:183
virtual const char * Description() const
Definition: error.h:235
virtual int GetType() const
Definition: error.h:236
Error_Redundancy indicates an error that occured during solving for redundancy.
Definition: error.h:131
virtual const char * Description() const
Definition: error.h:134
virtual int GetType() const
Definition: error.h:146
virtual const char * Description() const
Definition: error.h:145
virtual const char * Description() const
Definition: error.h:140
virtual int GetType() const
Definition: error.h:141
Error_Stepsize_To_Small is thrown if the stepsize becomes to small
Definition: error.h:210
virtual const char * Description() const
Definition: error.h:212
virtual int GetType() const
Definition: error.h:213
Error_Stepsize_Underflow is thrown if the stepsize becomes to small.
Definition: error.h:195
virtual const char * Description() const
Definition: error.h:197
virtual int GetType() const
Definition: error.h:198
virtual int GetType() const
Definition: error.h:206
virtual const char * Description() const
Definition: error.h:205
virtual const char * Description() const
Definition: error.h:61
virtual ~Error()
Definition: error.h:60
virtual int GetType() const
Definition: error.h:63
Definition: chain.cpp:27