KDL
1.3.0
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Solver interface supporting storage and description of the latest error. More...
#include <src/solveri.hpp>
Public Types | |
enum | { E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2 } |
Public Member Functions | |
SolverI () | |
Initialize latest error to E_NOERROR. More... | |
virtual | ~SolverI () |
virtual int | getError () const |
Return the latest error. More... | |
virtual const char * | strError (const int error) const |
Return a description of the latest error. More... | |
Protected Attributes | |
int | error |
Latest error, initialized to E_NOERROR in constructor. More... | |
Solver interface supporting storage and description of the latest error.
Error codes: Zero (0) indicates no error, positive error codes indicate more of a warning (e.g. a degraded solution, but motion can continue), and negative error codes indicate failure (e.g. a singularity, and motion can not continue).
Error codes between -99 and +99 (inclusive) are reserved for system-wide error codes. Derived classes should use values > +100, and < -100.
Example use
anonymous enum |
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inline |
Initialize latest error to E_NOERROR.
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inlinevirtual |
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inlinevirtual |
Return the latest error.
References error.
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inlinevirtual |
Return a description of the latest error.
Reimplemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverPos_NR, and KDL::ChainJntToJacSolver.
References E_NO_CONVERGE, and E_NOERROR.
Referenced by KDL::ChainJntToJacSolver::strError(), KDL::ChainIkSolverPos_NR::strError(), KDL::ChainIkSolverVel_pinv::strError(), and KDL::ChainIkSolverVel_wdls::strError().
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protected |
Latest error, initialized to E_NOERROR in constructor.
Referenced by KDL::ChainIkSolverPos_NR::CartToJnt(), KDL::ChainIkSolverVel_pinv::CartToJnt(), KDL::ChainIkSolverVel_wdls::CartToJnt(), getError(), and KDL::ChainJntToJacSolver::JntToJac().