fsb_urdf_error.h

 
#pragma once
 
#include <string>
#include <utility>
 
namespace fsb::urdf
{
 
enum class UrdfErrorType
{
    SUCCESS,
    VALUE_CONVERSION_FAILED,
    RANGE_ERROR,
    LOAD_FILE_ERROR,
    PARSE_ERROR,
    MISSING_ROBOT,
    MISSING_NAME,
    REPEATED_NAME,
    MISSING_JOINT_TYPE,
    INVALID_JOINT_TYPE,
    JOINT_INVALID_AXIS,
    MISSING_JOINT_PARENT,
    MISSING_PARENT_LINK_ATTRIBUTE,
    MISSING_JOINT_CHILD,
    MISSING_CHILD_LINK_ATTRIBUTE,
    MISSING_BODY_INERTIAL,
    MISSING_BODY_MASS,
    MISSING_BODY_INERTIA,
    MISSING_INERTIA_ATTRIBUTE,
    MISSING_MASS_VALUE_ATTRIBUTE,
    BODY_PRINCIPAL_INERTIA, 
    BODY_INERTIA_NOT_POSITIVE_DEFINITE, 
    MAX_JOINTS_EXCEEDED, 
    MAX_BODIES_EXCEEDED, 
    MAX_COORDINATES_EXCEEDED, 
    MAX_DOFS_EXCEEDED, 
    BODY_TREE_ERROR, 
    JOINT_PARENT_BODY_NOT_FOUND, 
    JOINT_CHILD_BODY_NOT_FOUND 
};
 
class UrdfError
{
public:
    UrdfError() = default;
 
    UrdfError(const UrdfErrorType type, std::string  description) :
            m_type(type),
            m_description(std::move(description))
    {}
 
    [[nodiscard]] bool is_error() const
    {
        return (m_type != UrdfErrorType::SUCCESS);
    }
 
    [[nodiscard]] std::string get_description() const
    {
        return m_description;
    }
 
    [[nodiscard]] UrdfErrorType get_type() const
    {
        return m_type;
    }
 
private:
    UrdfErrorType m_type = UrdfErrorType::SUCCESS;
    std::string   m_description;
};
 
} // namespace fsb::urdf