solveri.hpp

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// Copyright (C) 2013 Stephen Roderick <kiwi dot net at mac dot com>

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

#ifndef __SOLVERI_HPP
#define __SOLVERI_HPP

namespace KDL {

class SolverI
{
public:
    enum {
        E_DEGRADED         = +1,
        E_NOERROR          =  0,
        E_NO_CONVERGE      = -1,
        E_UNDEFINED        = -2,
        E_NOT_UP_TO_DATE = -3,
        E_SIZE_MISMATCH = -4,
        E_MAX_ITERATIONS_EXCEEDED = -5,
        E_OUT_OF_RANGE = -6,
        E_NOT_IMPLEMENTED = -7,
        E_SVD_FAILED = -8
    };

    SolverI() :
            error(E_NOERROR)
    {}

    virtual ~SolverI()
    {}

    virtual int getError() const { return error; }

    virtual const char* strError(const int error) const
    {
        if (E_NOERROR == error) return "No error";
        else if (E_NO_CONVERGE == error) return "Failed to converge";
        else if (E_UNDEFINED == error) return "Undefined value";
        else if (E_DEGRADED == error) return "Converged but degraded solution";
        else if (E_NOT_UP_TO_DATE == error) return "Internal data structures not up to date with Chain";
        else if (E_SIZE_MISMATCH == error) return "The size of the input does not match the internal state";
        else if (E_MAX_ITERATIONS_EXCEEDED == error) return "The maximum number of iterations is exceeded";
        else if (E_OUT_OF_RANGE == error) return "The requested index is out of range";
        else if (E_NOT_IMPLEMENTED == error) return "The requested function is not yet implemented";
        else  if (E_SVD_FAILED == error) return "SVD failed";
        else return "UNKNOWN ERROR";
    }

    virtual void updateInternalDataStructures() = 0;

protected:
    int     error;
};

}   //  namespaces

#endif