.. _program_listing_file_include_franka_errors.h:

Program Listing for File errors.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_franka_errors.h>` (``include/franka/errors.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2023 Franka Robotics GmbH
   // Use of this source code is governed by the Apache-2.0 license, see LICENSE
   #pragma once
   
   #include <array>
   #include <ostream>
   
   namespace franka {
   
   struct Errors {
    private:
     std::array<bool, 41> errors_{};
   
    public:
     Errors();
   
     Errors(const Errors& other);
   
     Errors& operator=(Errors other);
   
     Errors(const std::array<bool, 41>& errors);
   
     explicit operator bool() const noexcept;
   
     explicit operator std::string() const;
   
     const bool& joint_position_limits_violation;
     const bool& cartesian_position_limits_violation;
     const bool& self_collision_avoidance_violation;
     const bool& joint_velocity_violation;
     const bool& cartesian_velocity_violation;
     const bool& force_control_safety_violation;
     const bool& joint_reflex;
     const bool& cartesian_reflex;
     const bool& max_goal_pose_deviation_violation;
     const bool& max_path_pose_deviation_violation;
     const bool& cartesian_velocity_profile_safety_violation;
     const bool& joint_position_motion_generator_start_pose_invalid;
     const bool& joint_motion_generator_position_limits_violation;
     const bool& joint_motion_generator_velocity_limits_violation;
     const bool& joint_motion_generator_velocity_discontinuity;
     const bool& joint_motion_generator_acceleration_discontinuity;
     const bool& cartesian_position_motion_generator_start_pose_invalid;
     const bool& cartesian_motion_generator_elbow_limit_violation;
     const bool& cartesian_motion_generator_velocity_limits_violation;
     const bool& cartesian_motion_generator_velocity_discontinuity;
     const bool& cartesian_motion_generator_acceleration_discontinuity;
     const bool& cartesian_motion_generator_elbow_sign_inconsistent;
     const bool& cartesian_motion_generator_start_elbow_invalid;
     const bool& cartesian_motion_generator_joint_position_limits_violation;
     const bool& cartesian_motion_generator_joint_velocity_limits_violation;
     const bool& cartesian_motion_generator_joint_velocity_discontinuity;
     const bool& cartesian_motion_generator_joint_acceleration_discontinuity;
     const bool& cartesian_position_motion_generator_invalid_frame;
     const bool& force_controller_desired_force_tolerance_violation;
     const bool& controller_torque_discontinuity;
     const bool& start_elbow_sign_inconsistent;
     const bool& communication_constraints_violation;
     const bool& power_limit_violation;
     const bool& joint_p2p_insufficient_torque_for_planning;
     const bool& tau_j_range_violation;
     const bool& instability_detected;
     const bool& joint_move_in_wrong_direction;
     const bool& cartesian_spline_motion_generator_violation;
     const bool& joint_via_motion_generator_planning_joint_limit_violation;
     const bool& base_acceleration_initialization_timeout;
     const bool& base_acceleration_invalid_reading;
   };
   
   std::ostream& operator<<(std::ostream& ostream, const Errors& errors);
   
   }  // namespace franka