From d7d4fbe096eb4a100fb5fecb01e6fba7059c38f1 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 21 Sep 2015 11:05:32 +0200
Subject: [PATCH] Catch projection_error exceptions
---
src/manipulation-planner.cc | 11 +++++++++--
1 file changed, 9 insertions(+), 2 deletions(-)
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 50612f19..e6c88fa8 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -22,7 +22,8 @@
#include <hpp/core/path-validation.hh>
#include <hpp/core/connected-component.hh>
-#include "hpp/core/path-projector.hh"
+#include <hpp/core/path-projector.hh>
+#include <hpp/core/projection-error.hh>
#include "hpp/manipulation/graph/statistics.hh"
#include "hpp/manipulation/device.hh"
@@ -191,7 +192,13 @@ namespace hpp {
GraphPathValidationPtr_t pathValidation (problem_.pathValidation ());
PathValidationReportPtr_t report;
HPP_START_TIMECOUNTER (validatePath);
- pathValidation->validate (projPath, false, validPath, report);
+ try {
+ pathValidation->validate (projPath, false, validPath, report);
+ } catch (const core::projection_error& e) {
+ hppDout (error, e.what ());
+ addFailure (PATH_VALIDATION, edge);
+ return false;
+ }
HPP_STOP_TIMECOUNTER (validatePath);
if (validPath->length () == 0)
addFailure (PATH_VALIDATION, edge);
--
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