130 lines
3.5 KiB
C++
130 lines
3.5 KiB
C++
// Copyright (C) 2013 Stephen Roderick <kiwi dot net at mac dot com>
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef __SOLVERI_HPP
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#define __SOLVERI_HPP
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namespace KDL {
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/**
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* Solver interface supporting storage and description of the latest error.
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*
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* Error codes: Zero (0) indicates no error, positive error codes indicate more
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* of a warning (e.g. a degraded solution, but motion can continue), and
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* negative error codes indicate failure (e.g. a singularity, and motion
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* can not continue).
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*
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* Error codes between -99 and +99 (inclusive) are reserved for system-wide
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* error codes. Derived classes should use values > +100, and < -100.
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*
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* Example use
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*
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* \code
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* class MySolver : public SolverI
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* {
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* public:
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* static const int E_CHILDFAILD = xxx;
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*
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* MySolver(SomeOtherSolver& other);
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* virtual ~MySolver();
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* int CartToJnt(...);
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* virtual const char* strError(const int error) const;
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* protected:
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* SomeOtherSolver& child;
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* };
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*
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* ...
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*
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* int MySolver::CartToJnt(...)
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* {
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* error = child->SomeCall();
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* if (E_NOERROR != error) {
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* error = E_CHILDFAILED;
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* } else {
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* ...
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* }
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* return error;
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* }
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*
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* const char* MySolver::strError(const int error) const
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* {
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* if (E_CHILDFAILED == error) return "Child solver failed";
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* else return SolverI::strError(error);
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* }
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*
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* void someFunc()
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* {
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* SomeOtherSolver child = new SomeOtherSolver(...);
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* MySolver parent = new MySolver(child);
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* ...
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* int rc = parent->CartToJnt(...);
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* if (E_NOERROR != rc) {
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* if (MySolver::E_CHILDFAILED == rc) {
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* rc = child->getError();
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* // cope with child failure 'rc'
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* }
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* }
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* ...
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* }
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* \endcode
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*/
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class SolverI
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{
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public:
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enum {
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/// Converged but degraded solution (e.g. WDLS with psuedo-inverse singular)
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E_DEGRADED = +1,
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//! No error
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E_NOERROR = 0,
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//! Failed to converge
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E_NO_CONVERGE = -1,
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//! Undefined value (e.g. computed a NAN, or tan(90 degrees) )
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E_UNDEFINED = -2
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};
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/// Initialize latest error to E_NOERROR
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SolverI() :
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error(E_NOERROR)
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{}
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virtual ~SolverI()
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{}
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/// Return the latest error
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virtual int getError() const { return error; }
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/** Return a description of the latest error
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\return if \a error is known then a description of \a error, otherwise
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"UNKNOWN ERROR"
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*/
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virtual const char* strError(const int error) const
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{
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if (E_NOERROR == error) return "No error";
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else if (E_NO_CONVERGE == error) return "Failed to converge";
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else if (E_UNDEFINED == error) return "Undefined value";
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else if (E_DEGRADED == error) return "Converged but degraded solution";
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else return "UNKNOWN ERROR";
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}
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protected:
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/// Latest error, initialized to E_NOERROR in constructor
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int error;
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};
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} // namespaces
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#endif
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