Robotran C Documentation
mbs_errors_names.h
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1 
29 #ifndef MBS_ERRORS_NAMES_h
30 #define MBS_ERRORS_NAMES_h
31 
32 
33 #ifdef __cplusplus
34 extern "C" {
35 #endif
36 
37 /************************
38 * Modules *
39 ************************/
43 #define _MBS_ERR_MOD_PART -100
44 
48 #define _MBS_ERR_MOD_EQUIL -200
49 
53 #define _MBS_ERR_MOD_MODAL -300
54 
58 #define _MBS_ERR_MOD_DIRDYN -400
59 
63 #define _MBS_ERR_MOD_INV_KIN -500
64 
68 #define _MBS_ERR_MOD_INV_DYN -600
69 
73 #define _MBS_ERR_MOD_LOAD -900
74 
75 /************************
76 * Middle Level *
77 ************************/
78 
82 #define _MBS_ERR_MID_UXD -40
83 
87 #define _MBS_ERR_MID_CLOSE_GEO -50
88 
92 #define _MBS_ERR_MID_ACCERED -60
93 
97 #define _MBS_ERR_MID_DIRDYNARED -70
98 
102 #define _MBS_ERR_MID_RRED -80
103 
107 #define _MBS_ERR_MID_MRED -90
108 
109 /************************
110 * Low Level *
111 ************************/
112 
113 
117 #define _MBS_ERR_LOW_RANK_DCMP -1
118 
122 #define _MBS_ERR_LOW_LU_DCMP -2
123 
127 #define _MBS_ERR_LOW_CHOL_DCMP -3
128 
132 #define _MBS_ERR_LOW_EIG_VAL -4
133 
137 #define _MBS_ERR_LOW_LAPACKE -5
138 
142 #define _MBS_ERR_LOW_NAN -7
143 
147 #define _MBS_ERR_LOW_FILES -9
148 
149 /************************
150 * Generic *
151 ************************/
152 
156 #define _MBS_ERR_INIT -10
157 
162 #define _MBS_ERR_MOD_SPEC_11 -11
163 
168 #define _MBS_ERR_MOD_SPEC_12 -12
169 
174 #define _MBS_ERR_MOD_SPEC_13 -13
175 
180 #define _MBS_ERR_MOD_SPEC_14 -14
181 
186 #define _MBS_ERR_MOD_SPEC_15 -15
187 
192 #define _MBS_ERR_MOD_SPEC_16 -16
193 
198 #define _MBS_ERR_MOD_SPEC_17 -17
199 
204 #define _MBS_ERR_MOD_SPEC_18 -18
205 
210 #define _MBS_ERR_MOD_SPEC_19 -19
211 
212 /*
213 * Error specific to the modules:
214 *
215 * Part :
216 * -11 : Number of coordinates is not consistent between trajectories file
217 * -12 : LU tot = wrong choice of qu and qv
218 * -13 :
219 * -14 :
220 * -15 :
221 * -16 :
222 * -17 :
223 * -18 :
224 * -19 :
225 *
226 * Equil :
227 * -11 : Coordinate part. has not been done before calling the equil process
228 * -12 : None of the proposed parameter are sensitive
229 * -13 : They are no equilibrium variables
230 * -14 : Equilibrium process has not converged after many iterations
231 * -15 :
232 * -16 :
233 * -17 :
234 * -18 :
235 * -19 :
236 *
237 * Modal :
238 * -11 : No equil process called before
239 * -12 : No independent variable - irrelevant process
240 * -13 : There are no modal variables - irrelevant process
241 * -14 :
242 * -15 :
243 * -16 :
244 * -17 :
245 * -18 :
246 * -19 :
247 *
248 * Direct dynamics:
249 * -11 : buffer visualization
250 * -12 :
251 * -13 : Real-time
252 * -14 : Rosenbrock integrator
253 * -15 : Dopri 5 integrator
254 * -16 : Bader integrator
255 * -17 :
256 * -18 : ThetaSC (unused)
257 * -19 :
258 *
259 * Inverse kinematics (solvekin):
260 * -11 : This analysis is irrelevant in absence of constraints
261 * -12 : This analysis is irrelevant in absence of dependant variable
262 * -13 : Number of coordinates is not consistent between trajectories files
263 * -14 : Provided trajectories number of variable does not match : total joint or independant joint
264 * -15 : Impossible to interpolate trajectory
265 * -16 :
266 * -17 :
267 * -18 :
268 * -19 :
269 *
270 * Inverse dynamics:
271 * -11 : Interpolation of trajectories
272 * -12 : Not compatible options detected during the run (should not occur)
273 * -13 :
274 * -14 : Provided trajectories number of variable does not match : total joint or independant joint
275 * -15 : Impossible to interpolate trajectory
276 * -16 :
277 * -17 :
278 * -18 :
279 * -19 :
280 */
281 
282 #ifdef __cplusplus
283 }
284 #endif
285 
286 #endif // MBS_ERRORS_NAMES_h