slamException.hpp

/* $Id$ */

#ifndef SLAM_SLAM_EXCEPTION_HPP
#define SLAM_SLAM_EXCEPTION_HPP

#include "kernel/jafarException.hpp"

namespace jafar {

  namespace slam {

    class SlamException : public jafar::kernel::Exception {

    public:

      enum ExceptionId {
        UNKNOWN_FEATURE,          
  UNKNOWN_POSE_COPY,        
  LOCAL_MAP_FULL,           
  UNKNOWN_SENSOR,           
  INVALID_INITSTATE_UPDATE  
      };

      SlamException(ExceptionId id_, 
        const std::string& message_, 
        const std::string& file_, int line_) throw();

      virtual ~SlamException() throw();

      ExceptionId getExceptionId() const throw(); 

    protected:

      ExceptionId id;

      static std::string exceptionIdToString(ExceptionId id_) throw();
      
    }; // class SlamException

  } // namespace slam
} // namespace jafar

#endif // SLAM_SLAM_EXCEPTION_HPP