exceptions.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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#ifndef OCCUPANCY_GRID_UTILS_EXCEPTION_H
#define OCCUPANCY_GRID_UTILS_EXCEPTION_H

#include <boost/format.hpp>
#include <stdexcept>
#include <geometry_msgs/Point.h>

namespace occupancy_grid_utils
{

using boost::format;

struct GridUtilsException: public std::logic_error
{
  GridUtilsException (const format& f) : std::logic_error(f.str()) {};
  GridUtilsException (const char* str) : std::logic_error(str) {};
};


struct PointOutOfBoundsException: public GridUtilsException
{
  PointOutOfBoundsException (const geometry_msgs::Point& p) :
    GridUtilsException(format("Point %1%, %2% is off grid") % p.x % p.y) {}
};


struct CellOutOfBoundsException: public GridUtilsException
{
  CellOutOfBoundsException (const unsigned x, const unsigned y) :
    GridUtilsException(format("Cell %1%, %2% is off grid") % x % y) {}
};

struct DataSizeException: public GridUtilsException
{
  DataSizeException (const unsigned expected, const unsigned actual) :
    GridUtilsException (format ("Expected data vector to have size %1%, "
                                "but it has size %2%") % expected % actual) {}
};      


} // namespace occupancy_grid_utils

#endif