.. _program_listing_file_include_franka_exception.h:

Program Listing for File exception.h
====================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_franka_exception.h>` (``include/franka/exception.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 <stdexcept>
   #include <string>
   
   #include <franka/logging/robot_state_log.hpp>
   
   namespace franka {
   
   struct Exception : public std::runtime_error {
     using std::runtime_error::runtime_error;
   };
   
   struct ModelException : public Exception {
     using Exception::Exception;
   };
   
   struct NetworkException : public Exception {
     using Exception::Exception;
   };
   
   struct ProtocolException : public Exception {
     using Exception::Exception;
   };
   
   struct IncompatibleVersionException : public Exception {
     IncompatibleVersionException(uint16_t server_version, uint16_t library_version) noexcept;
   
     const uint16_t server_version;
     const uint16_t library_version;
   };
   
   struct ControlException : public Exception {
     explicit ControlException(const std::string& what, std::vector<franka::Record> log = {}) noexcept;
   
     const std::vector<franka::Record> log;
   };
   
   struct CommandException : public Exception {
     using Exception::Exception;
   };
   
   struct RealtimeException : public Exception {
     using Exception::Exception;
   };
   
   struct InvalidOperationException : public Exception {
     using Exception::Exception;
   };
   
   }  // namespace franka