Macros
#define	_MBS_ERR_MOD_PART -100
	Module error number module: Partionning = -100. More...

#define	_MBS_ERR_MOD_EQUIL -200
	Module error number module: Equilibrium = 2-00. More...

#define	_MBS_ERR_MOD_MODAL -300
	Module error number module: Modal = -300. More...

#define	_MBS_ERR_MOD_DIRDYN -400
	Module error number module: Direct Dynamics = -400. More...

#define	_MBS_ERR_MOD_INV_KIN -500
	Module error number module: Inverse Kinematics = -500. More...

#define	_MBS_ERR_MOD_INV_DYN -600
	Module error number module: Inverse Dynamics = -600. More...

#define	_MBS_ERR_MOD_LOAD -900
	Module error number module: Loading = -900. More...

#define	_MBS_ERR_MID_UXD -40
	Mid Level error number Related to uxd, i.e. More...

#define	_MBS_ERR_MID_CLOSE_GEO -50
	Mid Level error number Related to the closing geometry, i.e. More...

#define	_MBS_ERR_MID_ACCERED -60
	Mid Level error number Related to the reduced acceleration (accelered) computation. More...

#define	_MBS_ERR_MID_DIRDYNARED -70
	Mid Level error number Related to the reduced direct dynamics (dirdynared) computation. More...

#define	_MBS_ERR_MID_RRED -80
	Mid Level error number Related to the computation of the Rred matrix. More...

#define	_MBS_ERR_MID_MRED -90
	Mid Level error number Related to the computation of the Mred matrix. More...

#define	_MBS_ERR_LOW_RANK_DCMP -1
	Low Level error number Rank decompostion = -1. More...

#define	_MBS_ERR_LOW_LU_DCMP -2
	Low Level error number LU decompostion = -2. More...

#define	_MBS_ERR_LOW_CHOL_DCMP -3
	Low Level error number Cholesky decompostion = -3. More...

#define	_MBS_ERR_LOW_EIG_VAL -4
	Low Level error number Eigen value problem = -4. More...

#define	_MBS_ERR_LOW_LAPACKE -5
	Low Level error number problem with Lapacke system resolution = -5. More...

#define	_MBS_ERR_LOW_NULL_PTR -6
	Low Level error number A called symbolic or user function is set to NULL;. More...

#define	_MBS_ERR_LOW_NAN -7
	Low Level error number Number is NaN (not a number) = -7. More...

#define	_MBS_ERR_LOW_INVALID -8
	Invalid value (include NULL pointer) error number Value is not valid for the function = -8. More...

#define	_MBS_ERR_LOW_FILES -9
	Low Level error number Error during opening/writing files = -9. More...

#define	_MBS_ERR_INIT -10
	Generic error number Check user options at initialization = -10. More...

#define	_MBS_ERR_MOD_SPEC_11 -11
	Mid Level error number Module specific errors range from -11 to -19 please read the error message and the documentation of the functions that returns this number. More...

#define	_MBS_ERR_MOD_SPEC_12 -12
	Generic error number Module specific errors range from -11 to -19 please read the error message and the documentation of the functions that returns this number. More...

#define	_MBS_ERR_MOD_SPEC_13 -13
	Generic error number Module specific errors range from -11 to -19 please read the error message and the documentation of the functions that returns this number. More...

#define	_MBS_ERR_MOD_SPEC_14 -14
	Generic error number Module specific errors range from -11 to -19 please read the error message and the documentation of the functions that returns this number. More...

#define	_MBS_ERR_MOD_SPEC_15 -15
	Generic error number Module specific errors range from -11 to -19 please read the error message and the documentation of the functions that returns this number. More...

#define	_MBS_ERR_MOD_SPEC_16 -16
	Generic error number Module specific errors range from -11 to -19 please read the error message and the documentation of the functions that returns this number. More...

#define	_MBS_ERR_MOD_SPEC_17 -17
	Generic error number Module specific errors range from -11 to -19 please read the error message and the documentation of the functions that returns this number. More...

#define	_MBS_ERR_MOD_SPEC_18 -18
	Genericerror number Module specific errors range from -11 to -19 please read the error message and the documentation of the functions that returns this number. More...

#define	_MBS_ERR_MOD_SPEC_19 -19
	Generic error number Module specific errors range from -11 to -19 please read the error message and the documentation of the functions that returns this number. More...

Detailed Description

This header defines the error messages names and types, as well as numbers that are given back to the user To be used both in MBsysC and MBsysPy

Through all the code, a three-digits error code shows itself when an error occur, along with messages that are prompted in the command window.

      (-) X Y Z

X beeing the number of the module
Y being the mid-level related error (functions that are present in several modules, closing geometry for example)
Z beeing the low level related error (basic operations like numerical ones, rank computation for example)

The final value is the sum of sub-errors (for instance: -400 - 50 - 2 = -452 => error in LU, close geo in dirdyn)

READ CAREFULLY THE PRINTED MESSAGE !

Please note that errors from -X10 to -X19 are specifically related to the X module. Also, note that errors containing -X00 are related to the initialization of a module, probably due to wrong parameters from the user.

Creation date: 04-11-2020

Author: Robotran team

(c) Universite catholique de Louvain

Macro Definition Documentation

◆ _MBS_ERR_INIT

#define _MBS_ERR_INIT -10

Generic error number
Check user options at initialization = -10.

◆ _MBS_ERR_LOW_CHOL_DCMP

#define _MBS_ERR_LOW_CHOL_DCMP -3

Low Level error number
Cholesky decompostion = -3.

◆ _MBS_ERR_LOW_EIG_VAL

#define _MBS_ERR_LOW_EIG_VAL -4

Low Level error number
Eigen value problem = -4.

◆ _MBS_ERR_LOW_FILES

#define _MBS_ERR_LOW_FILES -9

Low Level error number Error during opening/writing files = -9.

◆ _MBS_ERR_LOW_INVALID

#define _MBS_ERR_LOW_INVALID -8

Invalid value (include NULL pointer) error number Value is not valid for the function = -8.

◆ _MBS_ERR_LOW_LAPACKE

#define _MBS_ERR_LOW_LAPACKE -5

Low Level error number problem with Lapacke system resolution = -5.

◆ _MBS_ERR_LOW_LU_DCMP

#define _MBS_ERR_LOW_LU_DCMP -2

Low Level error number
LU decompostion = -2.

◆ _MBS_ERR_LOW_NAN

#define _MBS_ERR_LOW_NAN -7

Low Level error number
Number is NaN (not a number) = -7.

◆ _MBS_ERR_LOW_NULL_PTR

#define _MBS_ERR_LOW_NULL_PTR -6

Low Level error number A called symbolic or user function is set to NULL;.

◆ _MBS_ERR_LOW_RANK_DCMP

#define _MBS_ERR_LOW_RANK_DCMP -1

Low Level error number
Rank decompostion = -1.

◆ _MBS_ERR_MID_ACCERED

#define _MBS_ERR_MID_ACCERED -60

Mid Level error number
Related to the reduced acceleration (accelered) computation.

◆ _MBS_ERR_MID_CLOSE_GEO

#define _MBS_ERR_MID_CLOSE_GEO -50

Mid Level error number
Related to the closing geometry, i.e.

the loop closure

◆ _MBS_ERR_MID_DIRDYNARED

#define _MBS_ERR_MID_DIRDYNARED -70

Mid Level error number
Related to the reduced direct dynamics (dirdynared) computation.

◆ _MBS_ERR_MID_MRED

#define _MBS_ERR_MID_MRED -90

Mid Level error number
Related to the computation of the Mred matrix.

◆ _MBS_ERR_MID_RRED

#define _MBS_ERR_MID_RRED -80

Mid Level error number
Related to the computation of the Rred matrix.

◆ _MBS_ERR_MID_UXD

#define _MBS_ERR_MID_UXD -40

Mid Level error number
Related to uxd, i.e.

the time deratives of the user variables

◆ _MBS_ERR_MOD_DIRDYN

#define _MBS_ERR_MOD_DIRDYN -400

Module error number
module: Direct Dynamics = -400.

◆ _MBS_ERR_MOD_EQUIL

#define _MBS_ERR_MOD_EQUIL -200

Module error number
module: Equilibrium = 2-00.

◆ _MBS_ERR_MOD_INV_DYN

#define _MBS_ERR_MOD_INV_DYN -600

Module error number
module: Inverse Dynamics = -600.

◆ _MBS_ERR_MOD_INV_KIN

#define _MBS_ERR_MOD_INV_KIN -500

Module error number
module: Inverse Kinematics = -500.

◆ _MBS_ERR_MOD_LOAD

#define _MBS_ERR_MOD_LOAD -900

Module error number module: Loading = -900.

◆ _MBS_ERR_MOD_MODAL

#define _MBS_ERR_MOD_MODAL -300

Module error number
module: Modal = -300.

◆ _MBS_ERR_MOD_PART

#define _MBS_ERR_MOD_PART -100

Module error number
module: Partionning = -100.

◆ _MBS_ERR_MOD_SPEC_11

#define _MBS_ERR_MOD_SPEC_11 -11

Mid Level error number
Module specific errors range from -11 to -19
please read the error message and the documentation of the functions that returns this number.