timor.utilities.errors
======================

.. py:module:: timor.utilities.errors

.. autoapi-nested-parse::

   Custom error messages for robotics applications



Exceptions
----------

.. autoapisummary::

   timor.utilities.errors.DuplicateValueError
   timor.utilities.errors.InvalidAssemblyError
   timor.utilities.errors.NonOrthogonalRotationError
   timor.utilities.errors.RotationVolumeError
   timor.utilities.errors.TimeNotFoundError
   timor.utilities.errors.UnexpectedSpatialShapeError
   timor.utilities.errors.UniqueValueError


Functions
---------

.. autoapisummary::

   timor.utilities.errors.assert_has_3d_point
   timor.utilities.errors.assert_is_3d_point
   timor.utilities.errors.assert_is_homogeneous_transformation
   timor.utilities.errors.assert_is_rotation_matrix


Module Contents
---------------

.. py:exception:: DuplicateValueError


   .. autoapi-inheritance-diagram:: timor.utilities.errors.DuplicateValueError
      :parts: 1
      :private-bases:


   This can be raised whenever a duplicate value is added to a container.

   Containers, such as a list, set, that allows unique values only.

   Initialize self.  See help(type(self)) for accurate signature.


.. py:exception:: InvalidAssemblyError


   .. autoapi-inheritance-diagram:: timor.utilities.errors.InvalidAssemblyError
      :parts: 1
      :private-bases:


   This can be raised when an assembly of modules should be created that's not valid

   Initialize self.  See help(type(self)) for accurate signature.


.. py:exception:: NonOrthogonalRotationError


   .. autoapi-inheritance-diagram:: timor.utilities.errors.NonOrthogonalRotationError
      :parts: 1
      :private-bases:


   Raised when a rotation matrix is not orthogonal

   Initialize self.  See help(type(self)) for accurate signature.


.. py:exception:: RotationVolumeError


   .. autoapi-inheritance-diagram:: timor.utilities.errors.RotationVolumeError
      :parts: 1
      :private-bases:


   Raised when a rotation matrix is not volume preserving

   Initialize self.  See help(type(self)) for accurate signature.


.. py:exception:: TimeNotFoundError


   .. autoapi-inheritance-diagram:: timor.utilities.errors.TimeNotFoundError
      :parts: 1
      :private-bases:


   Raised when a time step t can not be found in a trajectory, solution, etc. that is indexed at this time t.

   Initialize self.  See help(type(self)) for accurate signature.


.. py:exception:: UnexpectedSpatialShapeError


   .. autoapi-inheritance-diagram:: timor.utilities.errors.UnexpectedSpatialShapeError
      :parts: 1
      :private-bases:


   Can be thrown whenever a spatial input (point, rotation, transformation) has the wrong input shape

   Initialize self.  See help(type(self)) for accurate signature.


.. py:exception:: UniqueValueError


   .. autoapi-inheritance-diagram:: timor.utilities.errors.UniqueValueError
      :parts: 1
      :private-bases:


   This error can be raised whenever a values, such as an ID or name should be unique, but isn't

   Initialize self.  See help(type(self)) for accurate signature.


.. py:function:: assert_has_3d_point(p)

   Checks whether the input can be interpreted as a point in cartesian space

   :raises: UnexpectedSpatialShapeError


.. py:function:: assert_is_3d_point(p)

   Stronger assertion on points in cartesian space

   :raises: UnexpectedSpatialShapeError


.. py:function:: assert_is_homogeneous_transformation(T)

   Checks for shape, valid rotation matrix and last row

   :raises: UnexpectedSpatialShapeError, AssertionError


.. py:function:: assert_is_rotation_matrix(R)

   Checks whether a 3x3 matrix is a valid rotation (orthonormal)

   :raises: AssertionError