21 using std::runtime_error::runtime_error;
28 using Exception::Exception;
36 using Exception::Exception;
43 using Exception::Exception;
80 explicit ControlException(
const std::string& what, std::vector<franka::Record> log = {}) noexcept;
85 const std::vector<franka::Record>
log;
92 using Exception::Exception;
99 using Exception::Exception;
106 using Exception::Exception;
IncompatibleVersionException is thrown if the robot does not support this version of libfranka...
Definition: exception.h:49
InvalidOperationException is thrown if an operation cannot be performed.
Definition: exception.h:105
RealtimeException is thrown if realtime priority cannot be set.
Definition: exception.h:98
ProtocolException is thrown if the robot returns an incorrect message.
Definition: exception.h:42
ModelException is thrown if an error occurs when loading the model library.
Definition: exception.h:27
NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occu...
Definition: exception.h:35
Definition: command_types.h:13
Base class for all exceptions used by libfranka.
Definition: exception.h:20
ControlException is thrown if an error occurs during motion generation or torque control.
Definition: exception.h:73
const uint16_t library_version
libfranka protocol version.
Definition: exception.h:64
const uint16_t server_version
Control's protocol version.
Definition: exception.h:60
Contains helper types for logging sent commands and received robot states.
const std::vector< franka::Record > log
Vector of states and commands logged just before the exception occured.
Definition: exception.h:85
CommandException is thrown if an error occurs during command execution.
Definition: exception.h:91