exceptions.h

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#ifndef _GRASP_EXECUTION_EXCEPTIONS_H_
#define _GRASP_EXECUTION_EXCEPTIONS_H_

#include <stdexcept>

namespace object_manipulator {

class GraspException : public std::runtime_error
{
 public:
 GraspException(const std::string error) : std::runtime_error("grasp execution:"+error) {};
};

class IncompatibleRobotStateException : public GraspException
{
 public:
 IncompatibleRobotStateException(const std::string error) : GraspException("robot_state:"+error){};
};


class MoveArmStuckException : public IncompatibleRobotStateException
{
 public:
 MoveArmStuckException() : IncompatibleRobotStateException("move arm stuck"){};
};


class MechanismException : public GraspException
{
 public:
 MechanismException(const std::string error) : GraspException("mechanism:"+error) {};
};


class ServiceNotFoundException : public MechanismException
{
 public:
 ServiceNotFoundException(const std::string service_name) :
  MechanismException("service or action not found:"+service_name) {};
};


class CollisionMapException : public GraspException
{
 public:
 CollisionMapException(const std::string error) : GraspException("collision map:"+error) {};
};

class MissingParamException : public GraspException
{
 public:
  MissingParamException(const std::string name) : GraspException("missing parameter:"+name) {};
};

class BadParamException : public GraspException
{
 public:
  BadParamException(const std::string name) : GraspException("bad parameter:"+name) {};
};


} //namespace object_manipulator

#endif