exceptions.hpp

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#ifndef DWB_CORE__EXCEPTIONS_HPP_
#define DWB_CORE__EXCEPTIONS_HPP_
 
#include <stdexcept>
#include <string>
#include <memory>
 
#include "nav2_core/exceptions.hpp"
 
namespace dwb_core
{
 
class PlannerTFException : public nav2_core::PlannerException
{
public:
  explicit PlannerTFException(const std::string description)
  : nav2_core::PlannerException(description) {}
};
 
class IllegalTrajectoryException : public nav2_core::PlannerException
{
public:
  IllegalTrajectoryException(const std::string critic_name, const std::string description)
  : nav2_core::PlannerException(description), critic_name_(critic_name) {}
  std::string getCriticName() const {return critic_name_;}
 
protected:
  std::string critic_name_;
};
 
}  // namespace dwb_core
 
#endif  // DWB_CORE__EXCEPTIONS_HPP_