Add try/catch statements around IK/FK code

jhu-dvrk / sawIntuitiveResearchKit

cisst/SAW stack for the da Vinci Research Kit (dVRK)

https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki

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Add try/catch statements around IK/FK code #128

Open adeguet1 opened 4 years ago

adeguet1 commented 4 years ago

Exceptions thrown during IK/FK (and other cisstVector computations) are caught by the cisstMultiTask catch all approach and don't impact the current state of the arm. E.g. ECM IK does a normalize self on a vector that can be 0. Maybe all Run methods should have a try/catch and set the state to "FAULT".