/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Tully Foote */

#ifndef TF_EXCEPTIONS_H
#define TF_EXCEPTIONS_H

#include <stdexcept>

namespace tf{

/** \brief A base class for all tf exceptions 
 * This inherits from ros::exception 
 * which inherits from std::runtime_exception
 */
class TransformException: public std::runtime_error
{ 
public:
  TransformException(const std::string errorDescription) : std::runtime_error(errorDescription) { ; };
};


  /** \brief An exception class to notify of no connection
   * 
   * This is an exception class to be thrown in the case 
   * that the Reference Frame tree is not connected between
   * the frames requested. */
class ConnectivityException:public TransformException
{ 
public:
  ConnectivityException(const std::string errorDescription) : tf::TransformException(errorDescription) { ; };
};


/** \brief An exception class to notify of bad frame number 
 * 
 * This is an exception class to be thrown in the case that 
 * a frame not in the graph has been attempted to be accessed.
 * The most common reason for this is that the frame is not
 * being published, or a parent frame was not set correctly 
 * causing the tree to be broken.  
 */
class LookupException: public TransformException
{ 
public:
  LookupException(const std::string errorDescription) : tf::TransformException(errorDescription) { ; };
};

  /** \brief An exception class to notify that the requested value would have required extrapolation beyond current limits.
   * 
   */
class ExtrapolationException: public TransformException 
{ 
public:
  ExtrapolationException(const std::string errorDescription) : tf::TransformException(errorDescription) { ; };
};

/** \brief An exception class to notify that one of the arguments is invalid
 * 
 * usually it's an uninitalized Quaternion (0,0,0,0)
 * 
 */
class InvalidArgument: public TransformException  
{ 
public:
  InvalidArgument(const std::string errorDescription) : tf::TransformException(errorDescription) { ; };
};


}


#endif //TF_EXCEPTIONS_H
