exceptions.h
Go to the documentation of this file.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 InterruptRequestedException : public GraspException 00050 { 00051 public: 00052 InterruptRequestedException() : GraspException("interrupt requested") {}; 00053 }; 00054 00056 class IncompatibleRobotStateException : public GraspException 00057 { 00058 public: 00059 IncompatibleRobotStateException(const std::string error) : GraspException("robot_state:"+error){}; 00060 }; 00061 00063 00066 class MoveArmStuckException : public IncompatibleRobotStateException 00067 { 00068 public: 00069 MoveArmStuckException() : IncompatibleRobotStateException("move arm stuck"){}; 00070 }; 00071 00073 00077 class MechanismException : public GraspException 00078 { 00079 public: 00080 MechanismException(const std::string error) : GraspException("mechanism:"+error) {}; 00081 }; 00082 00084 00087 class ServiceNotFoundException : public MechanismException 00088 { 00089 public: 00090 ServiceNotFoundException(const std::string service_name) : 00091 MechanismException("service or action not found:"+service_name) {}; 00092 }; 00093 00095 00099 class CollisionMapException : public GraspException 00100 { 00101 public: 00102 CollisionMapException(const std::string error) : GraspException("collision map:"+error) {}; 00103 }; 00104 00106 class MissingParamException : public GraspException 00107 { 00108 public: 00109 MissingParamException(const std::string name) : GraspException("missing parameter:"+name) {}; 00110 }; 00111 00113 class BadParamException : public GraspException 00114 { 00115 public: 00116 BadParamException(const std::string name) : GraspException("bad parameter:"+name) {}; 00117 }; 00118 00119 00120 } //namespace object_manipulator 00121 00122 #endif