65 lines
2.6 KiB
C++
65 lines
2.6 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file linearExceptions.cpp
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* @brief Exceptions that may be thrown by linear solver components
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* @author Richard Roberts
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* @date Aug 17, 2012
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*/
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#include <gtsam/linear/linearExceptions.h>
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#include <gtsam/inference/Symbol.h>
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#include <boost/lexical_cast.hpp>
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namespace gtsam {
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/* ************************************************************************* */
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const char* IndeterminantLinearSystemException::what() const noexcept
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{
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if(!description_) {
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description_ = String(
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"\nIndeterminant linear system detected while working near variable\n"
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+ std::to_string(j_) +
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+ " (Symbol: " + gtsam::DefaultKeyFormatter(gtsam::Symbol(j_)) + ").\n"
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"\n\
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Thrown when a linear system is ill-posed. The most common cause for this\n\
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error is having underconstrained variables. Mathematically, the system is\n\
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underdetermined. See the GTSAM Doxygen documentation at\n\
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http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for\n\
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more information.");
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}
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return description_->c_str();
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}
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/* ************************************************************************* */
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const char* InvalidNoiseModel::what() const noexcept {
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if(description_.empty())
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description_ = "A JacobianFactor was attempted to be constructed or modified to use a\n"
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"noise model of incompatible dimension. The JacobianFactor has\n"
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"dimensionality (i.e. length of error vector) " + std::to_string(factorDims) +
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" but the provided noise model has dimensionality " + std::to_string(noiseModelDims) + ".";
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return description_.c_str();
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}
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/* ************************************************************************* */
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const char* InvalidMatrixBlock::what() const noexcept {
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if(description_.empty()) {
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description_ = "A JacobianFactor was attempted to be constructed with a matrix block of\n"
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"inconsistent dimension. The JacobianFactor has " + std::to_string(factorRows) +
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" rows (i.e. length of error vector) but the provided matrix block has " +
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std::to_string(blockRows) + " rows.";
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}
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return description_.c_str();
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}
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}
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