linearExceptions.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/base/ThreadsafeException.h>
#include <gtsam/base/types.h>

namespace gtsam {

  class GTSAM_EXPORT IndeterminantLinearSystemException : public ThreadsafeException<IndeterminantLinearSystemException> {
    Key j_;
  public:
    IndeterminantLinearSystemException(Key j) noexcept : j_(j) {}
    ~IndeterminantLinearSystemException() noexcept override {}
    Key nearbyVariable() const { return j_; }
    const char* what() const noexcept override;
  };

  /* ************************************************************************* */
  class GTSAM_EXPORT InvalidNoiseModel : public ThreadsafeException<InvalidNoiseModel> {
  public:
    const DenseIndex factorDims; 
    const DenseIndex noiseModelDims; 

    InvalidNoiseModel(DenseIndex factorDims, DenseIndex noiseModelDims) :
      factorDims(factorDims), noiseModelDims(noiseModelDims) {}
    ~InvalidNoiseModel() noexcept override {}

    const char* what() const noexcept override;

  private:
    mutable std::string description_;
  };

  /* ************************************************************************* */
  class GTSAM_EXPORT InvalidMatrixBlock : public ThreadsafeException<InvalidMatrixBlock> {
  public:
    const DenseIndex factorRows; 
    const DenseIndex blockRows; 

    InvalidMatrixBlock(DenseIndex factorRows, DenseIndex blockRows) :
      factorRows(factorRows), blockRows(blockRows) {}
    ~InvalidMatrixBlock() noexcept override {}

    const char* what() const noexcept override;

  private:
    mutable std::string description_;
  };

  /* ************************************************************************* */
  class InvalidDenseElimination : public ThreadsafeException<InvalidDenseElimination> {
  public:
    InvalidDenseElimination(const char *message) : ThreadsafeException<InvalidDenseElimination>(message) {}
  };

 }