nonlinearExceptions.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <exception>

#include <gtsam/inference/Key.h>

namespace gtsam {

  class MarginalizeNonleafException : public std::exception {
    Key key_;
    KeyFormatter formatter_;
    mutable std::string what_;
  public:
    MarginalizeNonleafException(Key key, KeyFormatter formatter = DefaultKeyFormatter) noexcept :
      key_(key), formatter_(formatter) {}
    virtual ~MarginalizeNonleafException() noexcept {}
    Key key() const { return key_; }
    const char* what() const noexcept override {
      if(what_.empty())
        what_ =
"\nRequested to marginalize out variable " + formatter_(key_) + ", but this variable\n\
is not a leaf.  To make the variables you would like to marginalize be leaves,\n\
their ordering should be constrained using the constrainedKeys argument to\n\
ISAM2::update().\n";
      return what_.c_str();
    }
  };

}