replaced exceptions with errors

Signed-off-by: Jenn Nguyen <[email protected]>

geospatial/include/ignition/common/Dem.hh

@@ -52,7 +52,8 @@ namespace ignition
       /// \brief Get the elevation of a terrain's point in meters.
       /// \param[in] _x X coordinate of the terrain.
       /// \param[in] _y Y coordinate of the terrain.
-      /// \return Terrain's elevation at (x,y) in meters.
+      /// \return Terrain's elevation at (x,y) in meters or infinity if illegal
+      /// coordinates were provided.
       public: double Elevation(double _x, double _y);
 
       /// \brief Get the terrain's minimum elevation in meters.
@@ -67,7 +68,8 @@ namespace ignition
       /// origin in WGS84.
       /// \param[out] _latitude Georeferenced latitude.
       /// \param[out] _longitude Georeferenced longitude.
-      public: void GeoReferenceOrigin(ignition::math::Angle &_latitude,
+      /// \return True if able to retrieve origin coordinates. False otherwise.
+      public: bool GeoReferenceOrigin(ignition::math::Angle &_latitude,
                   ignition::math::Angle &_longitude) const;
 
       /// \brief Get the terrain's height. Due to the Ogre constrains, this
@@ -119,7 +121,8 @@ namespace ignition
       /// \param[in] _y Y coordinate of the terrain.
       /// \param[out] _latitude Georeferenced latitude.
       /// \param[out] _longitude Georeferenced longitude.
-      private: void GeoReference(double _x, double _y,
+      /// \return True if able to retrieve coordinates. False otherwise.
+      private: bool GeoReference(double _x, double _y,
                                  ignition::math::Angle &_latitude,
                                  ignition::math::Angle &_longitude) const;
 

geospatial/src/Dem.cc

@@ -15,6 +15,7 @@
  *
 */
 #include <algorithm>
+#include <limits>
 
 #include <gdal_priv.h>
 #include <ogr_spatialref.h>
@@ -118,35 +119,32 @@ int Dem::Load(const std::string &_filename)
   ySize = this->dataPtr->dataSet->GetRasterYSize();
 
   // Corner coordinates
-  try
+  upLeftX = 0.0;
+  upLeftY = 0.0;
+  upRightX = xSize;
+  upRightY = 0.0;
+  lowLeftX = 0.0;
+  lowLeftY = ySize;
+
+  // Calculate the georeferenced coordinates of the terrain corners
+  if (!this->GeoReference(upLeftX, upLeftY, upLeftLat, upLeftLong)
+      || !this->GeoReference(upRightX, upRightY, upRightLat, upRightLong)
+      || !this->GeoReference(lowLeftX, lowLeftY, lowLeftLat, lowLeftLong))
   {
-    upLeftX = 0.0;
-    upLeftY = 0.0;
-    upRightX = xSize;
-    upRightY = 0.0;
-    lowLeftX = 0.0;
-    lowLeftY = ySize;
-
-    // Calculate the georeferenced coordinates of the terrain corners
-    this->GeoReference(upLeftX, upLeftY, upLeftLat, upLeftLong);
-    this->GeoReference(upRightX, upRightY, upRightLat, upRightLong);
-    this->GeoReference(lowLeftX, lowLeftY, lowLeftLat, lowLeftLong);
-
-    // Set the world width and height
-    this->dataPtr->worldWidth =
-       math::SphericalCoordinates::Distance(upLeftLat, upLeftLong,
-                                              upRightLat, upRightLong);
-    this->dataPtr->worldHeight =
-       math::SphericalCoordinates::Distance(upLeftLat, upLeftLong,
-                                              lowLeftLat, lowLeftLong);
-  }
-  catch (const std::invalid_argument &)
-  {
-    ignwarn << "Failed to automatically compute DEM size. "
+    ignerr << "Failed to automatically compute DEM size. "
             << "Please use the <size> element to manually set DEM size."
             << std::endl;
+    return -1;
   }
 
+  // Set the world width and height
+  this->dataPtr->worldWidth =
+     math::SphericalCoordinates::Distance(upLeftLat, upLeftLong,
+                                            upRightLat, upRightLong);
+  this->dataPtr->worldHeight =
+     math::SphericalCoordinates::Distance(upLeftLat, upLeftLong,
+                                            lowLeftLat, lowLeftLong);
+
   // Set the terrain's side (the terrain will be squared after the padding)
   if (ignition::math::isPowerOfTwo(ySize - 1))
     height = ySize;
@@ -201,11 +199,10 @@ double Dem::Elevation(double _x, double _y)
 {
   if (_x >= this->Width() || _y >= this->Height())
   {
-    throw std::invalid_argument(
-      "Illegal coordinates. You are asking for the elevation in ("
-      + std::to_string(_x) + "," + std::to_string(_y) + ") but the terrain is ["
-      + std::to_string(this->Width()) + " x " + std::to_string(this->Height())
-      + "]\n");
+    ignerr << "Illegal coordinates. You are asking for the elevation in ("
+           << _x << "," << _y << ") but the terrain is ["
+           << this->Width() << " x " << this->Height() << "]" << std::endl;
+    return std::numeric_limits<double>::infinity();
   }
 
   return this->dataPtr->demData.at(_y * this->Width() + _x);
@@ -224,7 +221,7 @@ float Dem::MaxElevation() const
 }
 
 //////////////////////////////////////////////////
-void Dem::GeoReference(double _x, double _y,
+bool Dem::GeoReference(double _x, double _y,
     ignition::math::Angle &_latitude, ignition::math::Angle &_longitude) const
 {
   double geoTransf[6];
@@ -243,10 +240,9 @@ void Dem::GeoReference(double _x, double _y,
     cT = OGRCreateCoordinateTransformation(&sourceCs, &targetCs);
     if (nullptr == cT)
     {
-      throw std::invalid_argument(
-        "Unable to transform terrain coordinate system to WGS84 for "
-        "coordinates (" + std::to_string(_x) + ","
-        + std::to_string(_y) + ")");
+      ignerr << "Unable to transform terrain coordinate system to WGS84 for "
+             << "coordinates (" << _x << "," << _y << ")" << std::endl;
+      return false;
     }
 
     xGeoDeg = geoTransf[0] + _x * geoTransf[1] + _y * geoTransf[2];
@@ -261,14 +257,15 @@ void Dem::GeoReference(double _x, double _y,
   }
   else
   {
-    throw std::invalid_argument(
-      "Unable to obtain the georeferenced values for coordinates ("
-      + std::to_string(_x) + "," + std::to_string(_y) + ")\n");
+    ignerr << "Unable to obtain the georeferenced values for coordinates ("
+           << _x << "," << _y << ")" << std::endl;
+    return false;
   }
+  return true;
 }
 
 //////////////////////////////////////////////////
-void Dem::GeoReferenceOrigin(ignition::math::Angle &_latitude,
+bool Dem::GeoReferenceOrigin(ignition::math::Angle &_latitude,
     ignition::math::Angle &_longitude) const
 {
   return this->GeoReference(0, 0, _latitude, _longitude);

geospatial/src/Dem_TEST.cc

@@ -16,6 +16,7 @@
 */
 
 #include <gtest/gtest.h>
+#include <limits>
 #include <ignition/math/Angle.hh>
 #include <ignition/math/Vector3.hh>
 
@@ -101,13 +102,14 @@ TEST_F(DemTest, BasicAPI)
   EXPECT_FLOAT_EQ(209.14784, dem.Elevation(width - 1, height - 1));
 
   // Illegal coordinates
-  ASSERT_ANY_THROW(dem.Elevation(0, height));
-  ASSERT_ANY_THROW(dem.Elevation(width, 0));
-  ASSERT_ANY_THROW(dem.Elevation(width, height));
+  double inf = std::numeric_limits<double>::infinity();
+  EXPECT_DOUBLE_EQ(inf, dem.Elevation(0, height));
+  EXPECT_DOUBLE_EQ(inf, dem.Elevation(width, 0));
+  EXPECT_DOUBLE_EQ(inf, dem.Elevation(width, height));
 
   // Check GeoReferenceOrigin()
   ignition::math::Angle latitude, longitude;
-  dem.GeoReferenceOrigin(latitude, longitude);
+  EXPECT_TRUE(dem.GeoReferenceOrigin(latitude, longitude));
   EXPECT_FLOAT_EQ(38.001667, latitude.Degree());
   EXPECT_FLOAT_EQ(-122.22278, longitude.Degree());
 }