forked from bartvdbraak/blender
245 lines
9.3 KiB
C++
245 lines
9.3 KiB
C++
/***************************************************************************
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tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 error.h
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error.h - description
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-------------------
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begin : Mon January 10 2005
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copyright : (C) 2005 Erwin Aertbelien
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email : erwin.aertbelien@mech.kuleuven.ac.be
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***************************************************************************
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Lesser General Public *
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* License as published by the Free Software Foundation; either *
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* version 2.1 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public *
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* License along with this library; if not, write to the Free Software *
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* Foundation, Inc., 51 Franklin Street, *
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* Fifth Floor, Boston, MA 02110-1301, USA. *
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* *
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***************************************************************************/
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/*****************************************************************************
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* \file
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* Defines the exception classes that can be thrown
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* \author
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* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
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*
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* \version
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* ORO_Geometry V0.2
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*
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* \par History
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* - $log$
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*
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* \par Release
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* $Name: $
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****************************************************************************/
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#ifndef ERROR_H_84822 // to make it unique, a random number
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#define ERROR_H_84822
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#include "utility.h"
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#include <string>
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namespace KDL {
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/**
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* Base class for errors generated by ORO_Geometry
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*/
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class Error {
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public:
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/** Returns a description string describing the error.
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* the returned pointer only garanteed to exists as long as
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* the Error object exists.
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*/
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virtual ~Error() {}
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virtual const char* Description() const {return "Unspecified Error\n";}
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virtual int GetType() const {return 0;}
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};
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class Error_IO : public Error {
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std::string msg;
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int typenr;
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public:
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Error_IO(const std::string& _msg="Unspecified I/O Error",int typenr=0):msg(_msg) {}
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virtual const char* Description() const {return msg.c_str();}
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virtual int GetType() const {return typenr;}
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};
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class Error_BasicIO : public Error_IO {};
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class Error_BasicIO_File : public Error_BasicIO {
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public:
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virtual const char* Description() const {return "Error while reading stream";}
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virtual int GetType() const {return 1;}
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};
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class Error_BasicIO_Exp_Delim : public Error_BasicIO {
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public:
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virtual const char* Description() const {return "Expected Delimiter not encountered";}
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virtual int GetType() const {return 2;}
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};
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class Error_BasicIO_Not_A_Space : public Error_BasicIO {
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public:
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virtual const char* Description() const {return "Expected space,tab or newline not encountered";}
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virtual int GetType() const {return 3;}
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};
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class Error_BasicIO_Unexpected : public Error_BasicIO {
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public:
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virtual const char* Description() const {return "Unexpected character";}
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virtual int GetType() const {return 4;}
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};
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class Error_BasicIO_ToBig : public Error_BasicIO {
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public:
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virtual const char* Description() const {return "Word that is read out of stream is bigger than maxsize";}
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virtual int GetType() const {return 5;}
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};
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class Error_BasicIO_Not_Opened : public Error_BasicIO {
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public:
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virtual const char* Description() const {return "File cannot be opened";}
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virtual int GetType() const {return 6;}
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};
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class Error_FrameIO : public Error_IO {};
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class Error_Frame_Vector_Unexpected_id : public Error_FrameIO {
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public:
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virtual const char* Description() const {return "Unexpected identifier, expecting a vector (explicit or ZERO)";}
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virtual int GetType() const {return 101;}
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};
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class Error_Frame_Frame_Unexpected_id : public Error_FrameIO {
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public:
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virtual const char* Description() const {return "Unexpected identifier, expecting a Frame (explicit or DH)";}
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virtual int GetType() const {return 102;}
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};
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class Error_Frame_Rotation_Unexpected_id : public Error_FrameIO {
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public:
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virtual const char* Description() const {return "Unexpected identifier, expecting a Rotation (explicit or EULERZYX, EULERZYZ, RPY,ROT,IDENTITY)";}
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virtual int GetType() const {return 103;}
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};
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class Error_ChainIO : public Error {};
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class Error_Chain_Unexpected_id : public Error_ChainIO {
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public:
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virtual const char* Description() const {return "Unexpected identifier, expecting TRANS or ROT";}
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virtual int GetType() const {return 201;}
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};
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//! Error_Redundancy indicates an error that occured during solving for redundancy.
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class Error_RedundancyIO:public Error_IO {};
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class Error_Redundancy_Illegal_Resolutiontype : public Error_RedundancyIO {
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public:
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virtual const char* Description() const {return "Illegal Resolutiontype is used in I/O with ResolutionTask";}
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virtual int GetType() const {return 301;}
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};
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class Error_Redundancy:public Error {};
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class Error_Redundancy_Unavoidable : public Error_Redundancy {
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public:
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virtual const char* Description() const {return "Joint limits cannot be avoided";}
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virtual int GetType() const {return 1002;}
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};
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class Error_Redundancy_Low_Manip: public Error_Redundancy {
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public:
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virtual const char* Description() const {return "Manipulability is very low";}
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virtual int GetType() const {return 1003;}
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};
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class Error_MotionIO : public Error {};
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class Error_MotionIO_Unexpected_MotProf : public Error_MotionIO {
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public:
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virtual const char* Description() const { return "Wrong keyword while reading motion profile";}
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virtual int GetType() const {return 2001;}
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};
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class Error_MotionIO_Unexpected_Traj : public Error_MotionIO {
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public:
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virtual const char* Description() const { return "Trajectory type keyword not known";}
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virtual int GetType() const {return 2002;}
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};
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class Error_MotionPlanning : public Error {};
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class Error_MotionPlanning_Circle_ToSmall : public Error_MotionPlanning {
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public:
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virtual const char* Description() const { return "Circle : radius is to small";}
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virtual int GetType() const {return 3001;}
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};
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class Error_MotionPlanning_Circle_No_Plane : public Error_MotionPlanning {
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public:
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virtual const char* Description() const { return "Circle : Plane for motion is not properly defined";}
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virtual int GetType() const {return 3002;}
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};
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class Error_MotionPlanning_Incompatible: public Error_MotionPlanning {
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public:
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virtual const char* Description() const { return "Acceleration of a rectangular velocityprofile cannot be used";}
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virtual int GetType() const {return 3003;}
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};
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class Error_MotionPlanning_Not_Feasible: public Error_MotionPlanning {
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public:
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virtual const char* Description() const { return "Motion Profile with requested parameters is not feasible";}
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virtual int GetType() const {return 3004;}
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};
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class Error_MotionPlanning_Not_Applicable: public Error_MotionPlanning {
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public:
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virtual const char* Description() const { return "Method is not applicable for this derived object";}
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virtual int GetType() const {return 3004;}
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};
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//! Abstract subclass of all errors that can be thrown by Adaptive_Integrator
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class Error_Integrator : public Error {};
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//! Error_Stepsize_Underflow is thrown if the stepsize becomes to small
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class Error_Stepsize_Underflow : public Error_Integrator {
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public:
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virtual const char* Description() const { return "Stepsize Underflow";}
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virtual int GetType() const {return 4001;}
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};
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//! Error_To_Many_Steps is thrown if the number of steps needed to
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//! integrate to the desired accuracy becomes to big.
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class Error_To_Many_Steps : public Error_Integrator {
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public:
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virtual const char* Description() const { return "To many steps"; }
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virtual int GetType() const {return 4002;}
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};
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//! Error_Stepsize_To_Small is thrown if the stepsize becomes to small
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class Error_Stepsize_To_Small : public Error_Integrator {
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public:
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virtual const char* Description() const { return "Stepsize to small"; }
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virtual int GetType() const {return 4003;}
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};
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class Error_Criterium : public Error {};
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class Error_Criterium_Unexpected_id: public Error_Criterium {
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public:
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virtual const char* Description() const { return "Unexpected identifier while reading a criterium"; }
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virtual int GetType() const {return 5001;}
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};
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class Error_Limits : public Error {};
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class Error_Limits_Unexpected_id: public Error_Limits {
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public:
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virtual const char* Description() const { return "Unexpected identifier while reading a jointlimits"; }
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virtual int GetType() const {return 6001;}
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};
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class Error_Not_Implemented: public Error {
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public:
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virtual const char* Description() const { return "The requested object/method/function is not implemented"; }
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virtual int GetType() const {return 7000;}
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};
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}
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#endif
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