Enum ModelError 

pub enum ModelError {
    NotNormalized {
        kind: IdentifierKind,
        value: String,
    },
    ReservedSeparator {
        kind: IdentifierKind,
        value: String,
    },
    MalformedCapabilityReference {
        value: String,
    },
    MalformedAssetId {
        value: String,
    },
    UnknownCapability {
        reference: CapabilityRef,
    },
    CapabilityKindMismatch {
        reference: CapabilityRef,
        expected: CapabilityKind,
        actual: CapabilityKind,
    },
    CapabilityTargetKind {
        reference: CapabilityRef,
        expected: StructuralKind,
    },
    UnknownBoundTarget {
        reference: CapabilityRef,
        kind: StructuralKind,
        id: String,
    },
    UnknownDeclaredTarget {
        component_type: ComponentTypeId,
        capability_id: CapabilityId,
        kind: StructuralKind,
        id: String,
    },
    UnknownComponentType {
        instance: ComponentInstanceId,
        component_type: ComponentTypeId,
    },
    UnknownMountLink {
        instance: ComponentInstanceId,
        link: LinkId,
    },
    DirectionSign {
        instance: ComponentInstanceId,
        capability_id: CapabilityId,
        value: i8,
    },
    UnknownDirectionSignCapability {
        instance: ComponentInstanceId,
        capability_id: CapabilityId,
    },
    UnknownRoleCapability {
        instance: ComponentInstanceId,
        capability_id: CapabilityId,
    },
    EmptyCapabilityRoles {
        capability_id: CapabilityId,
    },
    DuplicateCapabilityRole {
        capability_id: CapabilityId,
        role: CapabilityRole,
    },
    SimulationWithoutCapability {
        component_type: ComponentTypeId,
        capability_id: CapabilityId,
    },
    SimulationCapabilityKindMismatch {
        component_type: ComponentTypeId,
        capability_id: CapabilityId,
        simulated: CapabilityKind,
        declared: CapabilityKind,
    },
    UnsupportedJointKind {
        owner: JointOwner,
        joint: JointId,
        kind: JointKind,
    },
    MotionLimit {
        field: MotionLimitField,
    },
    KinematicScalar {
        kinematics: KinematicKind,
        field: KinematicScalarField,
    },
    FootprintMovableJoint {
        joint: JointId,
    },
    FootprintMesh {
        link: LinkId,
    },
    FootprintNonFinite,
    FootprintRadius,
    Structure(StructureError),
}

A canonical robot model that violates the runtime model’s invariants.

Variants

NotNormalized

An identifier is not a normalized token.

Fields

kind: IdentifierKind

value: String

ReservedSeparator

An identifier contains the separator reserved for flattening a component’s structure into the robot’s.

Fields

kind: IdentifierKind

value: String

MalformedCapabilityReference

A capability reference is not written as component.capability.

Fields

value: String

MalformedAssetId

A logical asset id is not a normalized relative forward-slash path.

Fields

value: String

UnknownCapability

A reference names a capability the robot does not declare.

Fields

reference: CapabilityRef

CapabilityKindMismatch

A capability is not of the kind the caller requires.

Fields

reference: CapabilityRef

expected: CapabilityKind

actual: CapabilityKind

CapabilityTargetKind

A capability does not target the kind of structural item the caller requires.

Fields

reference: CapabilityRef

expected: StructuralKind

UnknownBoundTarget

A bound capability targets a structural item its component type does not define.

Fields

reference: CapabilityRef

kind: StructuralKind

id: String

UnknownDeclaredTarget

A component type’s capability targets a structural item that type does not define.

Fields

component_type: ComponentTypeId

capability_id: CapabilityId

kind: StructuralKind

id: String

UnknownComponentType

A component instance names a component type the model did not load.

Fields

instance: ComponentInstanceId

component_type: ComponentTypeId

UnknownMountLink

A component instance mounts on a link the robot structure lacks.

Fields

instance: ComponentInstanceId

link: LinkId

DirectionSign

A direction sign is neither -1 nor 1.

Fields

instance: ComponentInstanceId

capability_id: CapabilityId

value: i8

UnknownDirectionSignCapability

A direction sign names a capability its component type does not declare.

Fields

instance: ComponentInstanceId

capability_id: CapabilityId

UnknownRoleCapability

A capability role assignment names a capability its component type does not declare.

Fields

instance: ComponentInstanceId

capability_id: CapabilityId

EmptyCapabilityRoles

A persisted role key must name at least one role.

The component instance is not named: this is raised while the instance is being decoded, before the map key that identifies it is in scope. serde prefixes the field path it was decoding, which names the instance.

Fields

capability_id: CapabilityId

DuplicateCapabilityRole

A persisted role list may not repeat a role and rely on set coercion.

Fields

capability_id: CapabilityId

role: CapabilityRole

SimulationWithoutCapability

A simulated capability has no counterpart on the component type.

Fields

component_type: ComponentTypeId

capability_id: CapabilityId

SimulationCapabilityKindMismatch

A simulated capability models a different kind than the component declares, so the simulator would drive the wrong device.

Fields

component_type: ComponentTypeId

capability_id: CapabilityId

simulated: CapabilityKind

declared: CapabilityKind

UnsupportedJointKind

A joint uses a kind the runtime cannot drive.

Fields

owner: JointOwner

joint: JointId

kind: JointKind

MotionLimit

A motion limit is not finite, positive, and representable as f32.

The f32 bound is not cosmetic: motion commands cross the bus as f32, so a limit that does not survive the narrowing is not a limit.

Fields

field: MotionLimitField

KinematicScalar

A kinematic scalar is not finite and positive.

Fields

kinematics: KinematicKind

field: KinematicScalarField

FootprintMovableJoint

Stock safety cannot conservatively account for a collision shape that is attached below a movable joint.

Fields

joint: JointId

FootprintMesh

Mesh dimensions depend on asset contents and therefore cannot be compiled into the source-free stock safety envelope.

Fields

link: LinkId

FootprintNonFinite

A footprint scalar must remain finite after all fixed-joint transforms.

FootprintRadius

A compiled footprint radius is invalid, which must never enter a bundle manifest or authorize motion.

Structure(StructureError)

The canonical structure itself is invalid.

Trait Implementations

impl Debug for ModelError

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

Formats the value using the given formatter.

impl Display for ModelError

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

Formats the value using the given formatter.

impl Error for ModelError

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

Returns the lower-level source of this error, if any.

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

fn provide<'a>(&'a self, request: &mut Request<'a>)

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

Provides type-based access to context intended for error reports.

impl From<StructureError> for ModelError

fn from(source: StructureError) -> Self

Converts to this type from the input type.

impl From<TopologyIdError> for ModelError

fn from(error: TopologyIdError) -> Self

Converts to this type from the input type.