Add better error reporting

gtsam.h

@@ -1870,7 +1870,6 @@ class NonlinearFactorGraph {
 
   // FactorGraph
   void print(string s) const;
-  void printErrors(const gtsam::Values& values);
   bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const;
   size_t size() const;
   bool empty() const;
@@ -1887,6 +1886,7 @@ class NonlinearFactorGraph {
   gtsam::KeyVector keyVector() const;
 
   // NonlinearFactorGraph
+  void printErrors(const gtsam::Values& values) const;
   double error(const gtsam::Values& values) const;
   double probPrime(const gtsam::Values& values) const;
   gtsam::Ordering orderingCOLAMD() const;

wrap/Class.cpp

@@ -342,17 +342,21 @@ vector<Class> Class::expandTemplate(Str templateArg,
 
 /* ************************************************************************* */
 void Class::addMethod(bool verbose, bool is_const, Str methodName,
-    const ArgumentList& argumentList, const ReturnValue& returnValue,
+                      const ArgumentList& argumentList,
-    const Template& tmplate) {
+                      const ReturnValue& returnValue, const Template& tmplate) {
   // Check if templated
   if (tmplate.valid()) {
+    try {
       templateMethods_[methodName].addOverload(methodName, argumentList,
                                                returnValue, is_const,
                                                tmplate.argName(), verbose);
+    } catch (const std::runtime_error& e) {
+      throw std::runtime_error("Class::addMethod: error adding " + name_ +
+                               "::" + methodName + "\n" + e.what());
+    }
     // Create method to expand
     // For all values of the template argument, create a new method
     for (const Qualified& instName : tmplate.argValues()) {
-
       const TemplateSubstitution ts(tmplate.argName(), instName, *this);
       // substitute template in arguments
       ArgumentList expandedArgs = argumentList.expandTemplate(ts);
@@ -361,15 +365,27 @@ void Class::addMethod(bool verbose, bool is_const, Str methodName,
       // Now stick in new overload stack with expandedMethodName key
       // but note we use the same, unexpanded methodName in overload
       string expandedMethodName = methodName + instName.name();
+      try {
         methods_[expandedMethodName].addOverload(methodName, expandedArgs,
-          expandedRetVal, is_const, instName, verbose);
+                                                 expandedRetVal, is_const,
+                                                 instName, verbose);
+      } catch (const std::runtime_error& e) {
+        throw std::runtime_error("Class::addMethod: error adding " + name_ +
+                                 "::" + expandedMethodName + "\n" + e.what());
+      }
     }
   } else {
+    try {
       // just add overload
       methods_[methodName].addOverload(methodName, argumentList, returnValue,
                                        is_const, boost::none, verbose);
-    nontemplateMethods_[methodName].addOverload(methodName, argumentList, returnValue,
+      nontemplateMethods_[methodName].addOverload(methodName, argumentList,
-        is_const, boost::none, verbose);
+                                                  returnValue, is_const,
+                                                  boost::none, verbose);
+    } catch (const std::runtime_error& e) {
+      throw std::runtime_error("Class::addMethod: error adding " + name_ +
+                               "::" + methodName + "\n" + e.what());
+    }
   }
 }
 

wrap/Method.cpp

@@ -38,12 +38,12 @@ bool Method::addOverload(Str name, const ArgumentList& args,
     is_const_ = is_const;
   else if (is_const && !is_const_)
     throw std::runtime_error(
-        "Method::addOverload now designated as const whereas before it was "
+        "Method::addOverload: " + name +
-        "not");
+        " now designated as const whereas before it was not");
   else if (!is_const && is_const_)
     throw std::runtime_error(
-        "Method::addOverload now designated as non-const whereas before it "
+        "Method::addOverload: " + name +
-        "was");
+        " now designated as non-const whereas before it was");
   return first;
 }