RMLExceptions.h

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#ifndef __RMLEXCEPTIONS_H__
#define __RMLEXCEPTIONS_H__
 
#include <iostream>
#include <memory>
namespace rml {
class ExceptionWithHow : public std::exception {
public:
    void SetHow(std::string how)
    {
        how_ = how;
    }
    const char* how() const noexcept
    {
        return how_.c_str();
    }
 
private:
    std::string how_;
};
 
// GENERAL
class LabelSyntaxException : public ExceptionWithHow {
    virtual const char* what() const noexcept
    {
        return "[RML] Label Syntax Error! (check how())";
    }
};
 
// ROBOT MODEL
class RobotModelArmException : public ExceptionWithHow {
    virtual const char* what() const noexcept
    {
        return "[RobotModel] Error: Arm model exception (check how())";
    }
};
 
class RobotModelWrongControlSizeVectorException : public std::exception {
    virtual const char* what() const noexcept
    {
        return "[RobotModel] Error: wrong input size vector (check how())";
    }
};
 
class WrongFrameException : public ExceptionWithHow {
    virtual const char* what() const noexcept
    {
        return "Error: wrong frame id (check how())";
    }
};
 
// ARM MODEL
class ArmModelNotInitializedException : public std::exception {
    virtual const char* what() const noexcept
    {
        return "[ArmModel] Error: setting variable on a not initialized model ";
    }
};
 
class ArmModelJointException : public ExceptionWithHow {
    virtual const char* what() const noexcept
    {
        return "[ArmModel] Error: trying to access wrong joints (Check how()) ";
    }
};
 
class VehicleModelNotInitializedException : public std::exception {
    virtual const char* what() const noexcept
    {
        return "[VehicleModel] Error: vehicle model not initialized ";
    }
};
 
 
class BellShapeParameterException : public ExceptionWithHow {
    virtual const char* what() const noexcept
    {
        return "[rml::Functions] Error: wrong bell shape parameters. (Check how())";
    }
};
 
//class BellShapeParameterException: public std::exception {
//    virtual const char* what() const throw()
//    {
//        return "[rml::Functions] Error: wrong bell shape parameters: ymin > ymax";
//    }
//};
}
 
#endif