diff --git a/include/hpp/fcl/collision_data.h b/include/hpp/fcl/collision_data.h
index 9eb4bc81e4238b38cb86ba9fbce4a39d86dab9ae..9516b4cb6dbb92649f3a84f61a3fb7b2fa3a8bae 100644
--- a/include/hpp/fcl/collision_data.h
+++ b/include/hpp/fcl/collision_data.h
@@ -444,8 +444,9 @@ struct HPP_FCL_DLLAPI CollisionResult : QueryResult {
/// @brief get the i-th contact calculated
const Contact& getContact(size_t i) const {
if (contacts.size() == 0)
- throw std::invalid_argument(
- "The number of contacts is zero. No Contact can be returned.");
+ HPP_FCL_THROW_PRETTY(
+ "The number of contacts is zero. No Contact can be returned.",
+ std::invalid_argument);
if (i < contacts.size())
return contacts[i];
@@ -456,8 +457,9 @@ struct HPP_FCL_DLLAPI CollisionResult : QueryResult {
/// @brief set the i-th contact calculated
void setContact(size_t i, const Contact& c) {
if (contacts.size() == 0)
- throw std::invalid_argument(
- "The number of contacts is zero. No Contact can be returned.");
+ HPP_FCL_THROW_PRETTY(
+ "The number of contacts is zero. No Contact can be returned.",
+ std::invalid_argument);
if (i < contacts.size())
contacts[i] = c;
diff --git a/include/hpp/fcl/narrowphase/narrowphase.h b/include/hpp/fcl/narrowphase/narrowphase.h
index bd4a27f25f63295dd7ad40076c765b7a157c9b13..daa72bf5661a0141d68b279a671134eb9c370448 100644
--- a/include/hpp/fcl/narrowphase/narrowphase.h
+++ b/include/hpp/fcl/narrowphase/narrowphase.h
@@ -263,7 +263,8 @@ struct HPP_FCL_DLLAPI GJKSolver {
break;
default:
assert(false && "should not reach type part.");
- throw std::logic_error("GJKSolver: should not reach this part.");
+ HPP_FCL_THROW_PRETTY("GJKSolver: should not reach this part.",
+ std::logic_error)
}
return col;
}
diff --git a/include/hpp/fcl/serialization/BVH_model.h b/include/hpp/fcl/serialization/BVH_model.h
index 3b2a7eca2d879bb655b72f535a04110b58e1f6f8..ef29fe7bef0db5cf1a87c98bbd2f55cf090a6ff7 100644
--- a/include/hpp/fcl/serialization/BVH_model.h
+++ b/include/hpp/fcl/serialization/BVH_model.h
@@ -32,10 +32,11 @@ void save(Archive &ar, const hpp::fcl::BVHModelBase &bvh_model,
if (!(bvh_model.build_state == BVH_BUILD_STATE_PROCESSED ||
bvh_model.build_state == BVH_BUILD_STATE_UPDATED) &&
(bvh_model.getModelType() == BVH_MODEL_TRIANGLES)) {
- throw std::invalid_argument(
+ HPP_FCL_THROW_PRETTY(
"The BVH model is not in a BVH_BUILD_STATE_PROCESSED or "
"BVH_BUILD_STATE_UPDATED state.\n"
- "The BVHModel could not be serialized.");
+ "The BVHModel could not be serialized.",
+ std::invalid_argument);
}
ar &make_nvp("base",
diff --git a/src/broadphase/broadphase_dynamic_AABB_tree.cpp b/src/broadphase/broadphase_dynamic_AABB_tree.cpp
index 6d8c78f4720b29dea532761dbe6b719aca9a8f0b..9338cc42434d704194f8028f65c48f0d2c60da73 100644
--- a/src/broadphase/broadphase_dynamic_AABB_tree.cpp
+++ b/src/broadphase/broadphase_dynamic_AABB_tree.cpp
@@ -515,7 +515,8 @@ void DynamicAABBTreeCollisionManager::update() {
DynamicAABBNode* node = it->second;
node->bv = obj->getAABB();
if (node->bv.volume() <= 0.)
- throw std::invalid_argument("The bounding volume has a negative volume.");
+ HPP_FCL_THROW_PRETTY("The bounding volume has a negative volume.",
+ std::invalid_argument)
}
dtree.refit();
diff --git a/src/collision_utility.cpp b/src/collision_utility.cpp
index 586f6f6352376124a8bf73a91561bf6c38900b3d..05fd42969192210617b974b995175a0c970f276b 100644
--- a/src/collision_utility.cpp
+++ b/src/collision_utility.cpp
@@ -60,7 +60,8 @@ CollisionGeometry* extractBVH(const CollisionGeometry* model,
case BV_KDOP24:
return extractBVHtpl<KDOP<24> >(model, pose, aabb);
default:
- throw std::runtime_error("Unknown type of bounding volume");
+ HPP_FCL_THROW_PRETTY("Unknown type of bounding volume",
+ std::runtime_error);
}
}
} // namespace details
@@ -72,8 +73,9 @@ CollisionGeometry* extract(const CollisionGeometry* model,
return details::extractBVH(model, pose, aabb);
// case OT_GEOM: return model;
default:
- throw std::runtime_error(
- "Extraction is not implemented for this type of object");
+ HPP_FCL_THROW_PRETTY(
+ "Extraction is not implemented for this type of object",
+ std::runtime_error);
}
}
} // namespace fcl
diff --git a/src/mesh_loader/assimp.cpp b/src/mesh_loader/assimp.cpp
index 634beba1f5c6973729ed8856a489896d3f75ad36..495ace6024066c5cc3cdc535d0b60242c4dd5036 100644
--- a/src/mesh_loader/assimp.cpp
+++ b/src/mesh_loader/assimp.cpp
@@ -89,12 +89,13 @@ void Loader::load(const std::string& resource_path) {
std::string("Could not load resource ") + resource_path +
std::string("\n") + importer->GetErrorString() + std::string("\n") +
"Hint: the mesh directory may be wrong.");
- throw std::invalid_argument(exception_message);
+ HPP_FCL_THROW_PRETTY(exception_message.c_str(), std::invalid_argument);
}
if (!scene->HasMeshes())
- throw std::invalid_argument(std::string("No meshes found in file ") +
- resource_path);
+ HPP_FCL_THROW_PRETTY(
+ (std::string("No meshes found in file ") + resource_path).c_str(),
+ std::invalid_argument);
}
/**
diff --git a/src/mesh_loader/loader.cpp b/src/mesh_loader/loader.cpp
index b874c54eca7d8d256e190eca0c1e592b01a2f418..4c2f7f418fd42834bb2e69bd7bf1b4936f1ed9fc 100644
--- a/src/mesh_loader/loader.cpp
+++ b/src/mesh_loader/loader.cpp
@@ -83,7 +83,8 @@ BVHModelPtr_t MeshLoader::load(const std::string& filename,
case BV_KDOP24:
return _load<KDOP<24> >(filename, scale);
default:
- throw std::invalid_argument("Unhandled bouding volume type.");
+ HPP_FCL_THROW_PRETTY("Unhandled bouding volume type.",
+ std::invalid_argument);
}
}
@@ -92,8 +93,9 @@ CollisionGeometryPtr_t MeshLoader::loadOctree(const std::string& filename) {
shared_ptr<octomap::OcTree> octree(new octomap::OcTree(filename));
return CollisionGeometryPtr_t(new hpp::fcl::OcTree(octree));
#else
- throw std::logic_error(
- "hpp-fcl compiled without OctoMap. Cannot create OcTrees.");
+ HPP_FCL_THROW_PRETTY(
+ "hpp-fcl compiled without OctoMap. Cannot create OcTrees.",
+ std::logic_error);
#endif
}
diff --git a/src/narrowphase/gjk.cpp b/src/narrowphase/gjk.cpp
index b24d5d560d49041b9bd3cc3e0e3cb9edbd7ff2ce..c40fd5364b21795ad42bb48e2af0351869a31962 100644
--- a/src/narrowphase/gjk.cpp
+++ b/src/narrowphase/gjk.cpp
@@ -402,7 +402,7 @@ MinkowskiDiff::GetSupportFunction makeGetSupportFunction1(
return getSupportFuncTpl<Shape0, SmallConvex, false>;
}
default:
- throw std::logic_error("Unsupported geometric shape");
+ HPP_FCL_THROW_PRETTY("Unsupported geometric shape.", std::logic_error);
}
}
@@ -451,7 +451,7 @@ MinkowskiDiff::GetSupportFunction makeGetSupportFunction0(
s1, identity, inflation, linear_log_convex_threshold);
break;
default:
- throw std::logic_error("Unsupported geometric shape");
+ HPP_FCL_THROW_PRETTY("Unsupported geometric shape", std::logic_error);
}
}
@@ -482,7 +482,7 @@ bool getNormalizeSupportDirection(const ShapeBase* shape) {
return (bool)shape_traits<ConvexBase>::NeedNesterovNormalizeHeuristic;
break;
default:
- throw std::logic_error("Unsupported geometric shape");
+ HPP_FCL_THROW_PRETTY("Unsupported geometric shape", std::logic_error);
}
}
@@ -586,7 +586,8 @@ bool getClosestPoints(const GJK::Simplex& simplex, Vec3f& w0, Vec3f& w1) {
vs[2]->w, vs[3]->w);
break;
default:
- throw std::logic_error("The simplex rank must be in [ 1, 4 ]");
+ HPP_FCL_THROW_PRETTY("The simplex rank must be in [ 1, 4 ]",
+ std::logic_error);
}
w0.setZero();
w1.setZero();
@@ -719,7 +720,7 @@ GJK::Status GJK::evaluate(const MinkowskiDiff& shape_, const Vec3f& guess,
break;
default:
- throw std::logic_error("Invalid momentum variant.");
+ HPP_FCL_THROW_PRETTY("Invalid momentum variant.", std::logic_error);
}
appendVertex(curr_simplex, -dir, false,
@@ -789,7 +790,7 @@ GJK::Status GJK::evaluate(const MinkowskiDiff& shape_, const Vec3f& guess,
inside = projectTetrahedraOrigin(curr_simplex, next_simplex);
break;
default:
- throw std::logic_error("Invalid simplex rank");
+ HPP_FCL_THROW_PRETTY("Invalid simplex rank", std::logic_error);
}
assert(nfree + next_simplex.rank == 4);
current = next;
@@ -826,13 +827,15 @@ bool GJK::checkConvergence(const Vec3f& w, const FCL_REAL& rl, FCL_REAL& alpha,
diff = rl - alpha;
switch (convergence_criterion_type) {
case Absolute:
- throw std::logic_error("VDB convergence criterion is relative.");
+ HPP_FCL_THROW_PRETTY("VDB convergence criterion is relative.",
+ std::logic_error);
break;
case Relative:
check_passed = (diff - tolerance * rl) <= 0;
break;
default:
- throw std::logic_error("Invalid convergence criterion type.");
+ HPP_FCL_THROW_PRETTY("Invalid convergence criterion type.",
+ std::logic_error);
}
break;
@@ -847,7 +850,8 @@ bool GJK::checkConvergence(const Vec3f& w, const FCL_REAL& rl, FCL_REAL& alpha,
check_passed = ((diff / tolerance * rl) - tolerance * rl) <= 0;
break;
default:
- throw std::logic_error("Invalid convergence criterion type.");
+ HPP_FCL_THROW_PRETTY("Invalid convergence criterion type.",
+ std::logic_error);
}
break;
@@ -864,12 +868,13 @@ bool GJK::checkConvergence(const Vec3f& w, const FCL_REAL& rl, FCL_REAL& alpha,
check_passed = ((diff / tolerance * rl) - tolerance * rl) <= 0;
break;
default:
- throw std::logic_error("Invalid convergence criterion type.");
+ HPP_FCL_THROW_PRETTY("Invalid convergence criterion type.",
+ std::logic_error);
}
break;
default:
- throw std::logic_error("Invalid convergence criterion.");
+ HPP_FCL_THROW_PRETTY("Invalid convergence criterion.", std::logic_error);
}
return check_passed;
}
diff --git a/src/octree.cpp b/src/octree.cpp
index 0b661d8188cc87933d078161445b1c5b27ea6622..7e01605965be4e3df605a279c89df4c4f124f1f2 100644
--- a/src/octree.cpp
+++ b/src/octree.cpp
@@ -166,8 +166,10 @@ void OcTree::exportAsObjFile(const std::string& filename) const {
std::ofstream os;
os.open(filename);
if (!os.is_open())
- throw std::runtime_error(std::string("failed to open file \"") + filename +
- std::string("\""));
+ HPP_FCL_THROW_PRETTY(
+ (std::string("failed to open file \"") + filename + std::string("\""))
+ .c_str(),
+ std::runtime_error);
// write vertices
os << "# list of vertices\n";
for (VectorVec3f::const_iterator it = vertices.begin(); it != vertices.end();
diff --git a/src/shape/convex.cpp b/src/shape/convex.cpp
index bd1de134a7f3ac768141ce4f33706ee2368674bb..c50d1e7c6e9e6569d3c3649e5643642abd3d0bd7 100644
--- a/src/shape/convex.cpp
+++ b/src/shape/convex.cpp
@@ -57,9 +57,10 @@ ConvexBase* ConvexBase::convexHull(const Vec3f* pts, unsigned int num_points,
const char* qhullCommand) {
#ifdef HPP_FCL_HAS_QHULL
if (num_points <= 3) {
- throw std::invalid_argument(
+ HPP_FCL_THROW_PRETTY(
"You shouldn't use this function with less than"
- " 4 points.");
+ " 4 points.",
+ std::invalid_argument);
}
assert(pts[0].data() + 3 == pts[1].data());
@@ -70,7 +71,7 @@ ConvexBase* ConvexBase::convexHull(const Vec3f* pts, unsigned int num_points,
if (qh.qhullStatus() != qh_ERRnone) {
if (qh.hasQhullMessage()) std::cerr << qh.qhullMessage() << std::endl;
- throw std::logic_error("Qhull failed");
+ HPP_FCL_THROW_PRETTY("Qhull failed", std::logic_error);
}
typedef std::size_t index_type;
@@ -143,9 +144,10 @@ ConvexBase* ConvexBase::convexHull(const Vec3f* pts, unsigned int num_points,
}
} else {
if (keepTriangles) { // TODO I think there is a memory leak here.
- throw std::invalid_argument(
+ HPP_FCL_THROW_PRETTY(
"You requested to keep triangles so you "
- "must pass option \"Qt\" to qhull via the qhull command argument.");
+ "must pass option \"Qt\" to qhull via the qhull command argument.",
+ std::invalid_argument);
}
// Non-simplicial faces have more than 3 vertices and contains a list of
// rigdes. Ridges are (3-1)D simplex (i.e. one edge). We mark the two
@@ -182,7 +184,7 @@ ConvexBase* ConvexBase::convexHull(const Vec3f* pts, unsigned int num_points,
for (size_t i = 0; i < static_cast<size_t>(nvertex); ++i) {
Neighbors& n = neighbors_[i];
if (nneighbors[i].size() >= (std::numeric_limits<unsigned char>::max)())
- throw std::logic_error("Too many neighbors.");
+ HPP_FCL_THROW_PRETTY("Too many neighbors.", std::logic_error);
n.count_ = (unsigned char)nneighbors[i].size();
n.n_ = p_nneighbors;
p_nneighbors =
@@ -191,8 +193,9 @@ ConvexBase* ConvexBase::convexHull(const Vec3f* pts, unsigned int num_points,
assert(p_nneighbors == convex->nneighbors_->data() + c_nneighbors);
return convex;
#else
- throw std::logic_error(
- "Library built without qhull. Cannot build object of this type.");
+ HPP_FCL_THROW_PRETTY(
+ "Library built without qhull. Cannot build object of this type.",
+ std::logic_error);
HPP_FCL_UNUSED_VARIABLE(pts);
HPP_FCL_UNUSED_VARIABLE(num_points);
HPP_FCL_UNUSED_VARIABLE(keepTriangles);
@@ -203,9 +206,10 @@ ConvexBase* ConvexBase::convexHull(const Vec3f* pts, unsigned int num_points,
#ifdef HPP_FCL_HAS_QHULL
void ConvexBase::buildDoubleDescription() {
if (num_points <= 3) {
- throw std::invalid_argument(
+ HPP_FCL_THROW_PRETTY(
"You shouldn't use this function with a convex less than"
- " 4 points.");
+ " 4 points.",
+ std::invalid_argument);
}
Qhull qh;
@@ -215,7 +219,7 @@ void ConvexBase::buildDoubleDescription() {
if (qh.qhullStatus() != qh_ERRnone) {
if (qh.hasQhullMessage()) std::cerr << qh.qhullMessage() << std::endl;
- throw std::logic_error("Qhull failed");
+ HPP_FCL_THROW_PRETTY("Qhull failed", std::logic_error);
}
buildDoubleDescriptionFromQHullResult(qh);