errors.h

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// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once

#include <array>
#include <ostream>

namespace franka {

struct Errors {
 private:
  std::array<bool, 37> errors_{};

 public:
  Errors();

  Errors(const Errors& other);

  Errors& operator=(Errors other);

  Errors(const std::array<bool, 37>& errors);

  explicit operator bool() const noexcept;

  explicit operator std::string() const;

  const bool& joint_position_limits_violation;
  const bool& cartesian_position_limits_violation;
  const bool& self_collision_avoidance_violation;
  const bool& joint_velocity_violation;
  const bool& cartesian_velocity_violation;
  const bool& force_control_safety_violation;
  const bool& joint_reflex;
  const bool& cartesian_reflex;
  const bool& max_goal_pose_deviation_violation;
  const bool& max_path_pose_deviation_violation;
  const bool& cartesian_velocity_profile_safety_violation;
  const bool& joint_position_motion_generator_start_pose_invalid;
  const bool& joint_motion_generator_position_limits_violation;
  const bool& joint_motion_generator_velocity_limits_violation;
  const bool& joint_motion_generator_velocity_discontinuity;
  const bool& joint_motion_generator_acceleration_discontinuity;
  const bool& cartesian_position_motion_generator_start_pose_invalid;
  const bool& cartesian_motion_generator_elbow_limit_violation;
  const bool& cartesian_motion_generator_velocity_limits_violation;
  const bool& cartesian_motion_generator_velocity_discontinuity;
  const bool& cartesian_motion_generator_acceleration_discontinuity;
  const bool& cartesian_motion_generator_elbow_sign_inconsistent;
  const bool& cartesian_motion_generator_start_elbow_invalid;
  const bool& cartesian_motion_generator_joint_position_limits_violation;
  const bool& cartesian_motion_generator_joint_velocity_limits_violation;
  const bool& cartesian_motion_generator_joint_velocity_discontinuity;
  const bool& cartesian_motion_generator_joint_acceleration_discontinuity;
  const bool& cartesian_position_motion_generator_invalid_frame;
  const bool& force_controller_desired_force_tolerance_violation;
  const bool& controller_torque_discontinuity;
  const bool& start_elbow_sign_inconsistent;
  const bool& communication_constraints_violation;
  const bool& power_limit_violation;
  const bool& joint_p2p_insufficient_torque_for_planning;
  const bool& tau_j_range_violation;
  const bool& instability_detected;
  const bool& joint_move_in_wrong_direction;
};

std::ostream& operator<<(std::ostream& ostream, const Errors& errors);

}  // namespace franka