Merge pull request rock-control#6 from thorounibremen/master

Use specialized exceptions when reporting missing joint names
thorounibremen · Aug 31, 2020 · 9f5b47d · 9f5b47d
2 parents 14f48fe + cef4993
commit 9f5b47d
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/tasks/Conversions.cpp b/tasks/Conversions.cpp
@@ -99,8 +99,8 @@ void jointState2RmlTypes(const base::samples::Joints& joint_state, const std::ve
             params.CurrentVelocityVector->VecData[i]     = 0;
             params.CurrentAccelerationVector->VecData[i] = 0;
         }
-        catch(std::runtime_error e){
-            LOG_ERROR("Element %s has been configured in motion constraints, but is not available in joint state", names[i].c_str());
+        catch(const base::samples::Joints::InvalidName &e){
+            LOG_ERROR("Element %s has been configured in motion constraints, but is not available in joint state", e.name.c_str());
             throw e;
         }
     }
@@ -207,8 +207,8 @@ void target2RmlTypes(const ConstrainedJointsCmd& target, const MotionConstraints
                 motionConstraint2RmlTypes(constraint, idx, params);
             }
         }
-        catch(std::runtime_error e){
-            LOG_ERROR("Joint '%s' is in target vector but has not been configured in motion constraints", target.names[i].c_str());
+        catch(const MotionConstraints::InvalidName &e){
+            LOG_ERROR("Joint '%s' is in target vector but has not been configured in motion constraints", e.name.c_str());
             throw e;
         }
     }
@@ -227,8 +227,8 @@ void target2RmlTypes(const ConstrainedJointsCmd& target, const MotionConstraints
                 motionConstraint2RmlTypes(constraint, idx, params);
             }
         }
-        catch(std::runtime_error e){
-            LOG_ERROR("Joint '%s' is in target vector but has not been configured in motion constraints", target.names[i].c_str());
+        catch(const MotionConstraints::InvalidName &e){
+            LOG_ERROR("Joint '%s' is in target vector but has not been configured in motion constraints", e.name.c_str());
             throw e;
         }
     }