00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 */ 00030 00039 #ifndef GRAPH_SLAM_EXCEPTION_H 00040 #define GRAPH_SLAM_EXCEPTION_H 00041 00042 #include <ros/ros.h> 00043 #include <boost/format.hpp> 00044 #include <stdexcept> 00045 00046 namespace graph_slam 00047 { 00048 00049 using boost::format; 00050 00052 struct GraphSlamException: public std::logic_error 00053 { 00054 GraphSlamException (const format& error_string) : std::logic_error(error_string.str()) {}; 00055 GraphSlamException (const char* str) : std::logic_error(str) {}; 00056 }; 00057 00058 00060 struct LocalizationExtrapolationException: public GraphSlamException 00061 { 00062 LocalizationExtrapolationException (const ros::Time& t) : 00063 GraphSlamException (format ("Couldn't extrapolate localization at time %1% as localization buffer was empty") % t) {} 00064 00065 LocalizationExtrapolationException (const ros::Time& t, const ros::Time& nearest) : 00066 GraphSlamException (format ("Couldn't extrapolate localization at time %1%; nearest localization was at %2%") 00067 % t % nearest) {} 00068 00069 00070 }; 00071 00073 struct LocalizationTimeoutException: public GraphSlamException 00074 { 00075 LocalizationTimeoutException (const ros::Time& t, const ros::Duration& d) : 00076 GraphSlamException (format ("Timed out after waiting %1% for localization at time %2%") % d % t) {} 00077 }; 00078 00079 00080 } // namespace 00081 00082 #endif // include guard