1use std::{ops::RangeInclusive, sync::Arc};
2
3use thiserror::Error;
4
5#[derive(Debug, Error)]
6#[non_exhaustive]
7pub enum Error {
8 #[error("arci: {:?}", .0)]
9 InterpolationError(String),
10 #[error("arci: Collision {} {}", .0, .1)]
11 CollisionError(String, String),
12 #[error(
13 "arci: Timeout {:?}: {} is larger than {}",
14 timeout,
15 allowable_total_diff,
16 err
17 )]
18 Timeout {
19 timeout: std::time::Duration,
20 allowable_total_diff: f64,
21 err: f64,
22 },
23 #[error("arci: Length mismatch (model = {}, input = {})", model, input)]
24 LengthMismatch { model: usize, input: usize },
25 #[error("arci: No Joint={} is found.", .0)]
26 NoJoint(String),
27 #[error(
28 "arci: Joint Names Mismatch : left = {:?}, right = {:?}",
29 partial,
30 full
31 )]
32 JointNamesMismatch {
33 partial: Vec<String>,
34 full: Vec<String>,
35 },
36 #[error("arci: CopyJointError {:?} {:?} : {:?} {:?}", .0, .1, .2, .3)]
37 CopyJointError(Vec<String>, Vec<f64>, Vec<String>, Vec<f64>),
38 #[error(
39 "arci: Wait timeout target={:?}, cur={:?} is_reached={:?}",
40 target,
41 current,
42 is_reached
43 )]
44 TimeoutWithDiff {
45 target: Vec<f64>,
46 current: Vec<f64>,
47 is_reached: Vec<bool>,
48 },
49 #[error("arci: Uninitialized : {}", message)]
50 Uninitialized { message: String },
51 #[error("arci: Connection error : {}", message)]
52 Connection { message: String },
53 #[error("arci: Canceled : {}", message)]
54 Canceled { message: String },
55 #[error(
56 "arci: Out of limit: joint={}, position={}, limit={:?}",
57 name,
58 position,
59 limit
60 )]
61 OutOfLimit {
62 name: String,
63 position: f64,
64 limit: RangeInclusive<f64>,
65 },
66 #[error("arci: Failed to construct instance: {}", .0)]
67 Lazy(Arc<Error>),
68 #[error("arci: urdf: {:?}", .0)]
69 Urdf(#[from] urdf_rs::UrdfError),
70 #[error("arci: Other: {:?}", .0)]
71 Other(#[from] anyhow::Error),
72}