00001 /********************************************************************* 00002 * 00003 * Copyright (c) 2009, Willow Garage, Inc. 00004 * All rights reserved. 00005 * 00006 * Redistribution and use in source and binary forms, with or without 00007 * modification, are permitted provided that the following conditions 00008 * are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above 00013 * copyright notice, this list of conditions and the following 00014 * disclaimer in the documentation and/or other materials provided 00015 * with the distribution. 00016 * * Neither the name of the Willow Garage nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 *********************************************************************/ 00033 00034 #ifndef _GRASP_EXECUTION_EXCEPTIONS_H_ 00035 #define _GRASP_EXECUTION_EXCEPTIONS_H_ 00036 00037 #include <stdexcept> 00038 00039 namespace object_manipulator { 00040 00042 class GraspException : public std::runtime_error 00043 { 00044 public: 00045 GraspException(const std::string error) : std::runtime_error("grasp execution:"+error) {}; 00046 }; 00047 00049 class IncompatibleRobotStateException : public GraspException 00050 { 00051 public: 00052 IncompatibleRobotStateException(const std::string error) : GraspException("robot_state:"+error){}; 00053 }; 00054 00056 00059 class MoveArmStuckException : public IncompatibleRobotStateException 00060 { 00061 public: 00062 MoveArmStuckException() : IncompatibleRobotStateException("move arm stuck"){}; 00063 }; 00064 00066 00070 class MechanismException : public GraspException 00071 { 00072 public: 00073 MechanismException(const std::string error) : GraspException("mechanism:"+error) {}; 00074 }; 00075 00077 00080 class ServiceNotFoundException : public MechanismException 00081 { 00082 public: 00083 ServiceNotFoundException(const std::string service_name) : 00084 MechanismException("service or action not found:"+service_name) {}; 00085 }; 00086 00088 00092 class CollisionMapException : public GraspException 00093 { 00094 public: 00095 CollisionMapException(const std::string error) : GraspException("collision map:"+error) {}; 00096 }; 00097 00099 class MissingParamException : public GraspException 00100 { 00101 public: 00102 MissingParamException(const std::string name) : GraspException("missing parameter:"+name) {}; 00103 }; 00104 00106 class BadParamException : public GraspException 00107 { 00108 public: 00109 BadParamException(const std::string name) : GraspException("bad parameter:"+name) {}; 00110 }; 00111 00112 00113 } //namespace object_manipulator 00114 00115 #endif