From 33915bf2c4f319c486e3475d7f4e3ce5ae3bbff7 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@student.kit.edu>
Date: Wed, 26 Jun 2019 11:45:46 +0200
Subject: [PATCH] Add exceptions
---
VirtualRobot/CMakeLists.txt | 2 ++
VirtualRobot/XML/mujoco/exceptions.cpp | 22 +++++++++++++++++++++
VirtualRobot/XML/mujoco/exceptions.h | 27 ++++++++++++++++++++++++++
3 files changed, 51 insertions(+)
create mode 100644 VirtualRobot/XML/mujoco/exceptions.cpp
create mode 100644 VirtualRobot/XML/mujoco/exceptions.h
diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index 936be8c1f..ed462ed94 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -375,6 +375,7 @@ SET(SOURCES
XML/RobotIO.cpp
XML/SceneIO.cpp
+ XML/mujoco/exceptions.cpp
XML/mujoco/BodySanitizer.cpp
XML/mujoco/DummyMassBodySanitizer.cpp
XML/mujoco/MergingBodySanitizer.cpp
@@ -603,6 +604,7 @@ SET(INCLUDES
XML/RobotIO.h
XML/SceneIO.h
+ XML/mujoco/exceptions.h
XML/mujoco/BodySanitizer.h
XML/mujoco/DummyMassBodySanitizer.h
XML/mujoco/MergingBodySanitizer.h
diff --git a/VirtualRobot/XML/mujoco/exceptions.cpp b/VirtualRobot/XML/mujoco/exceptions.cpp
new file mode 100644
index 000000000..502e90bcc
--- /dev/null
+++ b/VirtualRobot/XML/mujoco/exceptions.cpp
@@ -0,0 +1,22 @@
+#include "exceptions.h"
+
+
+namespace VirtualRobot::mujoco::error
+{
+
+NoBodyOfRobotNode::NoBodyOfRobotNode(const std::string& nodeName) :
+ VirtualRobotException(makeMsg(nodeName))
+{}
+
+std::string NoBodyOfRobotNode::makeMsg(const std::string& nodeName)
+{
+ return "No body of robot node " + nodeName + ". Add a node body beforehand.";
+}
+
+
+NodeIsNoJoint::NodeIsNoJoint(const std::string& nodeName) :
+ VirtualRobotException("Node '" + nodeName + "' is no joint node.")
+{}
+
+
+}
diff --git a/VirtualRobot/XML/mujoco/exceptions.h b/VirtualRobot/XML/mujoco/exceptions.h
new file mode 100644
index 000000000..b4dda1752
--- /dev/null
+++ b/VirtualRobot/XML/mujoco/exceptions.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <VirtualRobot/VirtualRobotException.h>
+
+
+namespace VirtualRobot::mujoco::error
+{
+
+ /// Indicates that no body exists or has been added for a robot node.
+ class NoBodyOfRobotNode : public VirtualRobotException
+ {
+ public:
+ NoBodyOfRobotNode(const std::string& nodeName);
+ private:
+ static std::string makeMsg(const std::string& nodeName);
+ };
+
+
+ /// Indicates that a robot node has to be a joint node, but is not.
+ class NodeIsNoJoint : public VirtualRobotException
+ {
+ public:
+ NodeIsNoJoint(const std::string& nodeName);
+ };
+
+
+}
--
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