/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2018 Pilz GmbH & Co. KG
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#pragma once

#include <stdexcept>

namespace pilz_industrial_motion_planner
{
/** A base class for all pilz_industrial_motion_planner exceptions inheriting from std::runtime_exception */
class PlanningException : public std::runtime_error
{
public:
  PlanningException(const std::string& error_desc) : std::runtime_error(error_desc)
  {
  }
};

/** An exception class thrown when the planner manager is unable to load a factory
 *
 * Loading a PlanningContextFactory can fail if a factory is loaded that
 * would provide a command which was already provided by another factory loaded
 * before.
 */
class ContextLoaderRegistrationException : public PlanningException
{
public:
  ContextLoaderRegistrationException(const std::string& error_desc) : PlanningException(error_desc)
  {
  }
};

}  // namespace pilz_industrial_motion_planner
