diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index aad579fd4f258acd0f43845b7e7c652d442d07cc..6e4b359c39e8c6222c18b0b022e42b0866c71331 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -211,6 +211,7 @@ SET(SOURCES
SphereApproximator.cpp
Trajectory.cpp
VirtualRobot.cpp
+ VirtualRobotChecks.cpp
VirtualRobotException.cpp
CollisionDetection/CDManager.cpp
@@ -401,6 +402,7 @@ SET(INCLUDES
SphereApproximator.h
Trajectory.h
VirtualRobot.h
+ VirtualRobotChecks.h
VirtualRobotException.h
VirtualRobotImportExport.h
VirtualRobotTest.h
diff --git a/VirtualRobot/VirtualRobotChecks.cpp b/VirtualRobot/VirtualRobotChecks.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b97ba6eaf834114c124dc2eefbf550bd03e5dbf9
--- /dev/null
+++ b/VirtualRobot/VirtualRobotChecks.cpp
@@ -0,0 +1,38 @@
+#include "VirtualRobotChecks.h"
+
+
+namespace VirtualRobot
+{
+
+ VirtualRobotCheckException::VirtualRobotCheckException(
+ const std::string& condition,
+ const std::string& file, int line, const std::string& function,
+ const std::string& hint) :
+ VirtualRobotException(makeMsg(condition, file, line, function, hint))
+ {}
+
+ std::string VirtualRobotCheckException::makeMsg(
+ const std::string& condition,
+ const std::string& file, int line, const std::string& function,
+ const std::string& hint,
+ const std::string& lhs, const std::string& rhs)
+ {
+ std::stringstream ss;
+ ss << "Condition '" << condition << "' failed.";
+
+ if (!(lhs.empty() && rhs.empty()))
+ {
+ ss << "\n(lhs = " << lhs << ", rhs = " << rhs << ")";
+ }
+
+ if (!hint.empty())
+ {
+ ss << "\n Hint: " << hint;
+ }
+
+ ss << "\n(line " << line << " in " << function << "() in " << file << ")" ;
+
+ return ss.str();
+ }
+
+}
diff --git a/VirtualRobot/VirtualRobotChecks.h b/VirtualRobot/VirtualRobotChecks.h
new file mode 100644
index 0000000000000000000000000000000000000000..a6f0e6c112eeaae5fd270e85689b6ff5e563569e
--- /dev/null
+++ b/VirtualRobot/VirtualRobotChecks.h
@@ -0,0 +1,115 @@
+#pragma once
+
+#include <sstream>
+
+#include "VirtualRobotException.h"
+
+
+namespace VirtualRobot
+{
+
+ class VIRTUAL_ROBOT_IMPORT_EXPORT VirtualRobotCheckException :
+ public VirtualRobotException
+ {
+ public:
+
+ VirtualRobotCheckException(
+ const std::string& condition,
+ const std::string& filename, int line, const std::string& function,
+ const std::string& hint = "");
+
+ template <typename LhsT, typename RhsT>
+ VirtualRobotCheckException(
+ const std::string& condition, const LhsT& lhs, const RhsT& rhs,
+ const std::string& filename, int line, const std::string& function,
+ const std::string& hint = "") :
+ VirtualRobotException(
+ makeMsg(condition, filename, line, function, toString(lhs), toString(rhs), hint))
+ {}
+
+
+ private:
+
+ template <typename T>
+ static std::string toString(const T& t)
+ {
+ std::stringstream ss;
+ ss << t;
+ return ss.str();
+ }
+
+ static std::string makeMsg(
+ const std::string& condition,
+ const std::string& file, int line, const std::string& function,
+ const std::string& hint = "",
+ const std::string& lhs = "", const std::string& rhs = "");
+
+ };
+
+
+#define VR_CHECK_HINT(condition, hint) \
+ do { \
+ if( !(expression) ) { \
+ throw ::VirtualRobot::VirtualRobotCheckException( \
+ #condition, __FILE__, __LINE__, __FUNCTION__, hint); \
+ } \
+ } while(0);
+
+
+#define VR_CHECK(condition) \
+ VR_CHECK_HINT(condition, "")
+
+
+#define VR_CHECK_COMPARISON_HINT(lhs, rhs, cmp, hint) \
+ do { \
+ if( !(lhs cmp rhs) ) {\
+ throw ::VirtualRobot::VirtualRobotCheckException( \
+ #lhs " " #cmp " " #rhs, lhs, rhs, __FILE__, __LINE__, __FUNCTION__, hint); \
+ } \
+ } while(0)
+
+
+#define VR_CHECK_COMPARISON_HINT(lhs, rhs, cmp) \
+ VR_CHECK_HINT(lhs, rhs, cmp, "")
+
+
+
+#define VR_CHECK_EQUAL(lhs, rhs) VR_CHECK_COMPARISION(lhs, rhs, ==)
+#define VR_CHECK_EQUAL_HINT(lhs, rhs, hint) VR_CHECK_COMPARISION(lhs, rhs, ==, hint)
+
+#define VR_CHECK_NOT_EQUAL(lhs, rhs) VR_CHECK_COMPARISION(lhs, rhs, !=)
+#define VR_CHECK_NOT_EQUAL_HINT(lhs, rhs, hint) VR_CHECK_COMPARISION(lhs, rhs, !=, hint)
+
+
+#define VR_CHECK_LESS(lhs, rhs) VR_CHECK_COMPARISION(lhs, rhs, <)
+#define VR_CHECK_LESS_HINT(lhs, rhs, hint) VR_CHECK_COMPARISION(lhs, rhs, <, hint)
+
+#define VR_CHECK_LESS_EQUAL(lhs, rhs) VR_CHECK_COMPARISION(lhs, rhs, <=)
+#define VR_CHECK_LESS_EQUAL_HINT(lhs, rhs, hint) VR_CHECK_COMPARISION(lhs, rhs, <=, hint)
+
+
+#define VR_CHECK_GREATER(lhs, rhs) VR_CHECK_COMPARISION(lhs, rhs, >)
+#define VR_CHECK_GREATER_HINT(lhs, rhs, hint) VR_CHECK_COMPARISION(lhs, rhs, >, hint)
+
+#define VR_CHECK_GREATER_EQUAL(lhs, rhs) VR_CHECK_COMPARISION(lhs, rhs, >=)
+#define VR_CHECK_GREATER_EQUAL_HINT(lhs, rhs, hint) VR_CHECK_COMPARISION(lhs, rhs, >=, hint)
+
+
+#define VR_CHECK_NONNEGATIVE(value) VR_CHECK_GREATER_EQUAL(value, 0)
+#define VR_CHECK_NONNEGATIVE_HINT(value, hint) VR_CHECK_GREATER_EQUAL(value, 0, hint)
+
+#define VR_CHECK_POSITIVE(value) VR_CHECK_GREATER(value, 0)
+#define VR_CHECK_POSITIVE_HINT(value, hint) VR_CHECK_GREATER(value, 0, hint)
+
+
+#define VR_CHECK_FITS_SIZE(value, size) \
+ VR_CHECK_NONNEGATIVE(value); \
+ VR_CHECK_LESS(value, size)
+
+#define VR_CHECK_FITS_SIZE_HINT(value, size, hint) \
+ VR_CHECK_NONNEGATIVE(value, hint); \
+ VR_CHECK_LESS(value, size, hint)
+
+
+
+}
diff --git a/VirtualRobot/VirtualRobotException.h b/VirtualRobot/VirtualRobotException.h
index 041347b41c00dd21cb699d1066cf1be03b9451f2..770b7436cc3f5753895cef1f44fc1205607d33f4 100644
--- a/VirtualRobot/VirtualRobotException.h
+++ b/VirtualRobot/VirtualRobotException.h
@@ -62,13 +62,22 @@ namespace VirtualRobot
* 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__ << ": " << BOOST_CURRENT_FUNCTION << ": " << 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
* with the parameter \a messageString if the condition is true.
*/
-#define THROW_VR_EXCEPTION_IF(condition, messageString) do{if (condition) THROW_VR_EXCEPTION(messageString);}while(0);
+#define THROW_VR_EXCEPTION_IF(condition, messageString) \
+ do { \
+ if (condition) \
+ THROW_VR_EXCEPTION(messageString); \
+ } while(0);
#ifdef WIN32
#pragma warning(default:4275)