Enum StructureError 

pub enum StructureError {
    DuplicateIdentity {
        kind: StructuralKind,
        name: String,
    },
    UnknownJointLink {
        joint: JointId,
        role: LinkRole,
        link: LinkId,
    },
    MultipleParentJoints {
        link: LinkId,
    },
    SelfReferentialJoint {
        joint: JointId,
        link: LinkId,
    },
    RootLinkCount {
        found: usize,
    },
    JointCycle {
        link: LinkId,
    },
    Pose {
        owner: PoseOwner,
    },
    Mass {
        link: LinkId,
    },
    Inertia {
        link: LinkId,
    },
    Geometry {
        link: LinkId,
    },
    AxisNotFinite {
        joint: JointId,
    },
    AxisNotOriented {
        joint: JointId,
    },
    JointLimits {
        joint: JointId,
    },
    JointDynamics {
        joint: JointId,
    },
    UnknownMimicJoint {
        joint: JointId,
        mimicked: JointId,
    },
    JointSafety {
        joint: JointId,
    },
    RootLinkName {
        expected: LinkId,
        found: LinkId,
    },
    MissingBaseLink,
    MisattachedBaseLink,
    Document(Error),
}

A canonical structure that violates the structural invariants.

Variants

DuplicateIdentity

Two structural items share one identity.

Fields

kind: StructuralKind

name: String

UnknownJointLink

A joint attaches to a link the structure does not define.

Fields

joint: JointId

role: LinkRole

link: LinkId

MultipleParentJoints

A link has more than one parent joint, so it has no single pose.

Fields

link: LinkId

SelfReferentialJoint

A joint attaches a link to itself.

Fields

joint: JointId

link: LinkId

RootLinkCount

The link graph is not a single tree.

Fields

found: usize

JointCycle

The link graph contains a cycle, so no link has a defined world pose.

Fields

link: LinkId

Pose

A pose has a non-finite component.

Fields

owner: PoseOwner

Mass

A link mass is not finite and non-negative.

Fields

link: LinkId

Inertia

A link inertia tensor is not finite and positive semidefinite, so it does not describe a physically realizable body.

Fields

link: LinkId

Geometry

A geometry dimension is not finite and positive.

Fields

link: LinkId

AxisNotFinite

A joint axis has a non-finite component.

Fields

joint: JointId

AxisNotOriented

A movable joint has a zero-length axis, so its motion is undefined.

Fields

joint: JointId

JointLimits

A joint limit is not finite, or its bounds are inverted.

Fields

joint: JointId

JointDynamics

Joint damping or friction is not finite and non-negative.

Fields

joint: JointId

UnknownMimicJoint

A joint mimics a joint the structure does not define.

Fields

joint: JointId

mimicked: JointId

JointSafety

A joint’s software safety limits are not finite, or inverted.

Fields

joint: JointId

RootLinkName

The robot’s root link is not the conventional ground-projection frame.

Fields

expected: LinkId

found: LinkId

MissingBaseLink

The robot structure has no base_link at all.

MisattachedBaseLink

The robot structure has a base_link that is not rigidly attached directly beneath the root.

Document(Error)

The canonical structure document does not match the canonical schema.

Trait Implementations

impl Debug for StructureError

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

Formats the value using the given formatter.

impl Display for StructureError

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

Formats the value using the given formatter.

impl Error for StructureError

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<Error> for StructureError

fn from(source: Error) -> Self

Converts to this type from the input type.

impl From<StructureError> for ModelError

fn from(source: StructureError) -> Self

Converts to this type from the input type.