Remove unused exception classes (#109)

We don't throw them anywhere, so there's no reason to catch them.
SleipnirGroup · Feb 27, 2024 · 9ecf496 · 9ecf496
1 parent f3bee63
commit 9ecf496
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Showing 9 changed files with 2 additions and 110 deletions.
diff --git a/examples/Swerve/src/Main.cpp b/examples/Swerve/src/Main.cpp
@@ -5,7 +5,6 @@
 #include <numbers>
 #include <vector>
 
-#include <trajopt/IncompatibleTrajectoryException.h>
 #include <trajopt/OptimalTrajectoryGenerator.h>
 #include <trajopt/constraint/Constraint.h>
 #include <trajopt/constraint/TranslationConstraint.h>

diff --git a/include/trajopt/IncompatibleTrajectoryException.h b/include/trajopt/IncompatibleTrajectoryException.h
diff --git a/include/trajopt/InvalidPathException.h b/include/trajopt/InvalidPathException.h
diff --git a/java/src/main/java/org/sleipnirgroup/trajopt/InvalidPathException.java b/java/src/main/java/org/sleipnirgroup/trajopt/InvalidPathException.java
diff --git a/java/src/main/java/org/sleipnirgroup/trajopt/OptimalTrajectoryGenerator.java b/java/src/main/java/org/sleipnirgroup/trajopt/OptimalTrajectoryGenerator.java
@@ -8,10 +8,10 @@
 
 public final class OptimalTrajectoryGenerator {
     private native HolonomicTrajectory generateHolonomicTrajectory(SwerveDrivetrain swerveDrivetrain,
-            HolonomicPath holonomicPath) throws InvalidPathException, TrajectoryGenerationException;
+            HolonomicPath holonomicPath) throws TrajectoryGenerationException;
 
     public static HolonomicTrajectory generate(SwerveDrivetrain swerveDrivetrain, HolonomicPath holonomicPath)
-            throws NullPointerException, InvalidPathException, PluginLoadException, TrajectoryGenerationException {
+            throws NullPointerException, PluginLoadException, TrajectoryGenerationException {
         PluginLoader.loadPlugin();
         return new OptimalTrajectoryGenerator().generateHolonomicTrajectory(
                 Objects.requireNonNull(swerveDrivetrain, "Holonomic Trajectory Generator swerve drivetrain cannot be null"),

diff --git a/jni/TrajoptLibJNI.cpp b/jni/TrajoptLibJNI.cpp
@@ -7,7 +7,6 @@
 
 #include "jni.h"
 #include "org_sleipnirgroup_trajopt_OptimalTrajectoryGenerator.h"
-#include "trajopt/InvalidPathException.h"
 #include "trajopt/OptimalTrajectoryGenerator.h"
 #include "trajopt/TrajectoryGenerationException.h"
 #include "trajopt/constraint/AngularVelocityConstraint.h"
@@ -459,10 +458,6 @@ Java_org_sleipnirgroup_trajopt_OptimalTrajectoryGenerator_generateHolonomicTraje
     auto solution = OptimalTrajectoryGenerator::Generate(path);
     auto trajectory = HolonomicTrajectory(solution);
     return jHolonomicTrajectoryFromHolonomicTrajectory(env, trajectory);
-  } catch (const InvalidPathException& e) {
-    jclass jInvalidPathExceptionClass =
-        env->FindClass("org/sleipnirgroup/trajopt/InvalidPathException");
-    env->ThrowNew(jInvalidPathExceptionClass, e.what());
     return nullptr;
   } catch (const TrajectoryGenerationException& e) {
     jclass jTrajectoryGenerationExceptionClass = env->FindClass(

diff --git a/src/IncompatibleTrajectoryException.cpp b/src/IncompatibleTrajectoryException.cpp
diff --git a/src/InvalidPathException.cpp b/src/InvalidPathException.cpp
diff --git a/src/OptimalTrajectoryGenerator.cpp b/src/OptimalTrajectoryGenerator.cpp
@@ -12,7 +12,6 @@
 #define _OPTI_BACKEND SleipnirExpr, SleipnirOpti
 #endif
 #include "DebugOptions.h"
-#include "trajopt/InvalidPathException.h"
 #include "trajopt/drivetrain/SwerveDrivetrain.h"
 #include "optimization/algorithms/SwerveDiscreteOptimal.h"
 #include "trajopt/solution/SwerveSolution.h"