diff --git a/VirtualRobot/IK/DifferentialIK.cpp b/VirtualRobot/IK/DifferentialIK.cpp
index 8aa2dbed804b9467c6a6ce8ed9537cc4c343f22d..660a65441da380f99884fedef28637335da59259 100644
--- a/VirtualRobot/IK/DifferentialIK.cpp
+++ b/VirtualRobot/IK/DifferentialIK.cpp
@@ -64,7 +64,7 @@ MatrixXf DifferentialIK::getJacobianMatrix(RobotNodePtr tcp, IKSolver::Cartesian
MatrixXf orientation = MatrixXf::Zero(3,nDoF);
if (!tcp) tcp = this->getDefaultTCP();
-// THROW_VR_EXCEPTION_IF(!tcp,boost::format("No tcp defined in node set \"%1%\" of robot %2% (DifferentialIK::%3% )") % this->rns->getName() % this->rns->getRobot()->getName() % __func__);
+// THROW_VR_EXCEPTION_IF(!tcp,boost::format("No tcp defined in node set \"%1%\" of robot %2% (DifferentialIK::%3% )") % this->rns->getName() % this->rns->getRobot()->getName() % BOOST_CURRENT_FUNCTION);
diff --git a/VirtualRobot/LinkedCoordinate.cpp b/VirtualRobot/LinkedCoordinate.cpp
index 11dc33c31589c86c525780537f282806a933895b..995f7c01fde3045a5774950998748c9851250c95 100644
--- a/VirtualRobot/LinkedCoordinate.cpp
+++ b/VirtualRobot/LinkedCoordinate.cpp
@@ -1,6 +1,7 @@
#include "LinkedCoordinate.h"
#include "Robot.h"
#include <boost/format.hpp>
+#include <boost/current_function.hpp>
using namespace VirtualRobot;
using namespace boost;
@@ -8,42 +9,42 @@ using namespace std;
-void LinkedCoordinate::set( const RobotNodePtr &frame,const Eigen::Matrix4f &pose) throw(VirtualRobotException) {
+void LinkedCoordinate::set( const RobotNodePtr &frame,const Eigen::Matrix4f &pose) {
if (!frame)
- THROW_VR_EXCEPTION(format("RobotNodePtr not assigned (LinkedCoordinate::%1%)") % __func__);
+ THROW_VR_EXCEPTION(format("RobotNodePtr not assigned (LinkedCoordinate::%1%)") % BOOST_CURRENT_FUNCTION);
if (!this->robot->hasRobotNode( frame ) )
- THROW_VR_EXCEPTION(format("Robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % frame->getName() % this->robot->getName() % __func__);
+ THROW_VR_EXCEPTION(format("Robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % frame->getName() % this->robot->getName() % BOOST_CURRENT_FUNCTION);
this->pose = pose;
this->frame = frame;
}
-void LinkedCoordinate::set( const std::string &frame,const Eigen::Matrix4f &pose) throw(VirtualRobotException) {
+void LinkedCoordinate::set( const std::string &frame,const Eigen::Matrix4f &pose) {
if (!this->robot->hasRobotNode( frame ) )
- THROW_VR_EXCEPTION(format("Robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % frame % this->robot->getName() %__func__);
+ THROW_VR_EXCEPTION(format("Robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % frame % this->robot->getName() % BOOST_CURRENT_FUNCTION);
this->set(this->robot->getRobotNode(frame),pose);
}
-void LinkedCoordinate::set( const std::string &frame,const Eigen::Vector3f &coordinate) throw(VirtualRobotException) {
+void LinkedCoordinate::set( const std::string &frame,const Eigen::Vector3f &coordinate) {
Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();
pose.block<3,1>(0,3) = coordinate;
this->set(frame,pose);
}
-void LinkedCoordinate::set( const RobotNodePtr &frame,const Eigen::Vector3f &coordinate) throw(VirtualRobotException){
+void LinkedCoordinate::set( const RobotNodePtr &frame,const Eigen::Vector3f &coordinate) {
Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();
pose.block<3,1>(0,3) = coordinate;
this->set(frame,pose);
}
-void LinkedCoordinate::changeFrame(const RobotNodePtr & destination) throw(VirtualRobotException){
+void LinkedCoordinate::changeFrame(const RobotNodePtr & destination) {
if (!destination)
- THROW_VR_EXCEPTION(format("RobotNodePtr not assigned (LinkedCoordinate::%1%)") % __func__);
+ THROW_VR_EXCEPTION(format("RobotNodePtr not assigned (LinkedCoordinate::%1%)") % BOOST_CURRENT_FUNCTION);
if (!this->robot->hasRobotNode( destination) )
- THROW_VR_EXCEPTION(format("Robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % destination->getName() % this->robot->getName() % __func__);
+ THROW_VR_EXCEPTION(format("Robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % destination->getName() % this->robot->getName() % BOOST_CURRENT_FUNCTION);
if (!this->frame)
this->pose = Eigen::Matrix4f::Identity();
@@ -53,24 +54,24 @@ void LinkedCoordinate::changeFrame(const RobotNodePtr & destination) throw(Virtu
this->frame = destination;
}
-void LinkedCoordinate::changeFrame(const std::string & destination) throw(VirtualRobotException){
+void LinkedCoordinate::changeFrame(const std::string & destination) {
if (!this->robot->hasRobotNode( destination) )
- THROW_VR_EXCEPTION(format("Robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % destination % this->robot->getName() % __func__);
+ THROW_VR_EXCEPTION(format("Robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % destination % this->robot->getName() % BOOST_CURRENT_FUNCTION);
this->changeFrame(this->robot->getRobotNode(destination));
}
-Eigen::Matrix4f LinkedCoordinate::getInFrame(const RobotNodePtr & destination) const throw(VirtualRobotException){
+Eigen::Matrix4f LinkedCoordinate::getInFrame(const RobotNodePtr & destination) const {
if (!destination)
- THROW_VR_EXCEPTION(format("RobotNodePtr not assigned (LinkedCoordinate::%1%)") % __func__);
+ THROW_VR_EXCEPTION(format("RobotNodePtr not assigned (LinkedCoordinate::%1%)") % BOOST_CURRENT_FUNCTION);
if (!this->robot->hasRobotNode( destination) )
- THROW_VR_EXCEPTION(format("Robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % destination->getName() % this->robot->getName() % __func__);
+ THROW_VR_EXCEPTION(format("Robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % destination->getName() % this->robot->getName() % BOOST_CURRENT_FUNCTION);
return LinkedCoordinate::getCoordinateTransformation(this->frame,destination,this->robot) * this->pose;
}
-Eigen::Matrix4f LinkedCoordinate::getInFrame(const std::string & destination) const throw(VirtualRobotException){
+Eigen::Matrix4f LinkedCoordinate::getInFrame(const std::string & destination) const {
if (!this->robot->hasRobotNode( destination) )
- THROW_VR_EXCEPTION(format("Robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % destination % this->robot->getName() % __func__);
+ THROW_VR_EXCEPTION(format("Robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % destination % this->robot->getName() % BOOST_CURRENT_FUNCTION);
return LinkedCoordinate::getCoordinateTransformation(this->frame,this->robot->getRobotNode( destination),this->robot) * this->pose;
}
@@ -80,15 +81,15 @@ Eigen::Matrix4f LinkedCoordinate::getCoordinateTransformation(const RobotNodePtr
const RobotNodePtr &destination, const RobotPtr &robot){
if (!destination)
- THROW_VR_EXCEPTION(format("Destination RobotNodePtr not assigned (LinkedCoordinate::%1%)") % __func__);
+ THROW_VR_EXCEPTION(format("Destination RobotNodePtr not assigned (LinkedCoordinate::%1%)") % BOOST_CURRENT_FUNCTION);
if (!origin)
- THROW_VR_EXCEPTION(format("Origin RobotNodePtr not assigned (LinkedCoordinate::%1%)") % __func__);
+ THROW_VR_EXCEPTION(format("Origin RobotNodePtr not assigned (LinkedCoordinate::%1%)") % BOOST_CURRENT_FUNCTION);
if (!robot)
- THROW_VR_EXCEPTION(format("RobotPtr not assigned (LinkedCoordinate::%1%)") % __func__);
+ THROW_VR_EXCEPTION(format("RobotPtr not assigned (LinkedCoordinate::%1%)") % BOOST_CURRENT_FUNCTION);
if (!robot->hasRobotNode( origin) )
- THROW_VR_EXCEPTION(format("Origin robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % origin->getName() % robot->getName() % __func__);
+ THROW_VR_EXCEPTION(format("Origin robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % origin->getName() % robot->getName() % BOOST_CURRENT_FUNCTION);
if (!robot->hasRobotNode( destination) )
- THROW_VR_EXCEPTION(format("Destination robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % destination->getName() % robot->getName() % __func__);
+ THROW_VR_EXCEPTION(format("Destination robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % destination->getName() % robot->getName() % BOOST_CURRENT_FUNCTION);
// std::cout << "Destination: " << destination->getName() <<std::endl << "Origin: " << origin->getName() << std::endl;
// std::cout << "Destination:\n" << destination->getGlobalPose() <<std::endl << "Origin:\n" << origin->getGlobalPose() << std::endl;
diff --git a/VirtualRobot/LinkedCoordinate.h b/VirtualRobot/LinkedCoordinate.h
index d6a647d48d83586aed61e66f0ed3709eca58f02a..624db192962afdf69f29db607cf4ecb5cc3db202 100644
--- a/VirtualRobot/LinkedCoordinate.h
+++ b/VirtualRobot/LinkedCoordinate.h
@@ -66,7 +66,7 @@ public:
* @details If you want to use a different format for the pose you can use these
* helper functions @sa EulerToMatrix4x4 and @sa QuaternionsToMatrix4x4
*/
- void set(const RobotNodePtr &frame,const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity()) throw(VirtualRobotException);
+ void set(const RobotNodePtr &frame,const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity());
/** Sets the frame of reference and the coordinate relative to it.
* @param frame The name of the robot node that defines the reference frame of the coordinate.
@@ -75,7 +75,7 @@ public:
* @details A homogeneous vector can be converted using Eigen::Vector4f::head<3>().
*/
- void set(const RobotNodePtr &frame,const Eigen::Vector3f &position) throw(VirtualRobotException);
+ void set(const RobotNodePtr &frame,const Eigen::Vector3f &position);
/** Sets the frame of reference and the pose relative to it.
* @param frame The name of the robot node that defines the reference frame of the coordinate.
@@ -86,7 +86,7 @@ public:
* @sa set(Eigen::Matrix4x4,const RobotNodePtr &)
*/
- void set(const std::string &frame,const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity()) throw(VirtualRobotException);
+ void set(const std::string &frame,const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity());
/** Sets the frame of reference and the coordinate relative to it.
* @param frame The name of the robot node that defines the reference frame of the coordinate.
@@ -95,7 +95,7 @@ public:
* @details A homogeneous vector can be previously converted using Eigen::Vector4f::head<3>().
*/
- void set(const std::string &frame,const Eigen::Vector3f &position) throw(VirtualRobotException);
+ void set(const std::string &frame,const Eigen::Vector3f &position);
/** Returns a RobotNodePtr that contains the frame of reference the coordinate is defined in.
* @returns The reference or an empty RobotNodePtr is none has been defined.
@@ -108,14 +108,15 @@ public:
* @details If iCoord::set has not been called before, the pose is set to the
* unit marix.
*/
- void changeFrame(const std::string & frame) throw(VirtualRobotException);
+ void changeFrame(const std::string & frame);
/** Sets a new reference frame and performs a coordinate transformation into this new frame.
* @param frame A reference to the robot node that defines the new reference.
* @details If iCoord::set has not been called before, the pose is set to the
* unit marix.
+ * @throw VirtualRobotException An exception is thrown if frame is NULL.
*/
- void changeFrame(const RobotNodePtr & frame) throw(VirtualRobotException);
+ void changeFrame(const RobotNodePtr & frame);
/** Performs \a only a coordinate transformation into a new frame of reference.
* @param frame The name of the robot node that defines the new reference.
@@ -124,7 +125,7 @@ public:
* @returns A homogeneous matrix of the pose
* @sa getPose()
*/
- Eigen::Matrix4f getInFrame(const std::string & frame) const throw(VirtualRobotException);
+ Eigen::Matrix4f getInFrame(const std::string & frame) const;
/** Performs \a only a coordinate transformation into a new frame of reference.
* @param frame A reference to the robot node that defines the new reference.
@@ -133,8 +134,9 @@ public:
* @returns A homogeneous matrix of the pose
* @sa getPose()
* @details If you are only interested in the translational part use iCoord::getPosition() or Matrix4f::block<3,1>(0,3).
+ * @throw VirtualRobotException An exception is thrown if frame is NULL.
*/
- Eigen::Matrix4f getInFrame(const RobotNodePtr & frame) const throw(VirtualRobotException);
+ Eigen::Matrix4f getInFrame(const RobotNodePtr & frame) const;
/** Returns the actual pose stored in this object.
* @details If you are only interested in the translational part use iCoord::getPosition() or Matrix4f::block<3,1>(0,3).
diff --git a/VirtualRobot/VirtualRobotException.h b/VirtualRobot/VirtualRobotException.h
index b47ca37a873da1541a6cbb929078fc546ccf8aa3..8c77df941594507fc9e40dfb4ac338ad8eec0de6 100644
--- a/VirtualRobot/VirtualRobotException.h
+++ b/VirtualRobot/VirtualRobotException.h
@@ -57,10 +57,10 @@ protected:
/**
* This macro throws a VirtualRobot::VirtualRobotException and is the preferred
* way of creating and throwing these types of exceptions.
- * The reported message is composed of the linenumber and the file in which
- * the throw occured and is followed by the \a messageString parameter.
+ * The reported message is composed of the line number and the file in which
+ * the throw occurred and is followed by the \a messageString parameter.
*/
-#define THROW_VR_EXCEPTION(messageString) do{std::stringstream s; s << __FILE__ << ":" << __LINE__ << ": " << __func__ << ": " << messageString; std::string er = s.str(); throw VirtualRobot::VirtualRobotException(er);}while(0);
+#define THROW_VR_EXCEPTION(messageString) do{std::stringstream s; s << __FILE__ << ":" << __LINE__ << ": " << BOOST_CURRENT_FUNCTION << ": " << messageString; std::string er = s.str(); throw VirtualRobot::VirtualRobotException(er);}while(0);
/**
* This macro checks \a condition and calls THROW_VR_EXCEPTION