Enum franka::exception::FrankaException

pub enum FrankaException {
    ControlException {
        log: Option<Vec<Record>>,
        error: String,
    },
    IncompatibleLibraryVersionError {
        server_version: u16,
        library_version: u16,
    },
    NoMotionGeneratorRunningError,
    NoControllerRunningError,
    PartialCommandError,
    NetworkException {
        message: String,
    },
    CommandException {
        message: String,
    },
    ModelException {
        message: String,
    },
    RealTimeException {
        message: String,
    },
}

Represents all kind of errors which correspond to the franka::Exception in the C++ version of this library

Variants

ControlException

Fields

log: Option<Vec<Record>>

Vector of states and commands logged just before the exception occurred.

error: String

Explanatory string.

ControlException is thrown if an error occurs during motion generation or torque control. The exception holds a vector with the last received robot states. The number of recorded states can be configured in the Robot constructor.

IncompatibleLibraryVersionError

Fields

server_version: u16

Control’s protocol version.

library_version: u16

libfranka-rs protocol version.

IncompatibleVersionException is thrown if the robot does not support this version of libfranka-rs.

NoMotionGeneratorRunningError

NoMotionGeneratorRunningError is thrown when trying to send a motion command without an motion generator running.

NoControllerRunningError

NoControllerRunningError is thrown when trying to send a control command without an controller running.

PartialCommandError

PartialCommandError when trying to send a partial command.

NetworkException

Fields

message: String

NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occurs.

CommandException

Fields

message: String

CommandException is thrown if an error occurs during command execution.

ModelException

Fields

message: String

ModelException is thrown if an error occurs when loading the model library

RealTimeException

Fields

message: String

RealTimeException is thrown if the real-time priority cannot be set

Trait Implementations

impl Debug for FrankaException

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Display for FrankaException

fn fmt(&self, __formatter: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Error for FrankaException

fn source(&self) -> Option<&(dyn Error + 'static)>

The lower-level source of this error, if any.

fn backtrace(&self) -> Option<&Backtrace>

🔬 This is a nightly-only experimental API. (backtrace)

Returns a stack backtrace, if available, of where this error occurred.

fn description(&self) -> &str

👎 Deprecated since 1.42.0:

use the Display impl or to_string()

fn cause(&self) -> Option<&dyn Error>

👎 Deprecated since 1.33.0:

replaced by Error::source, which can support downcasting