throw trinterp exceptions as SE3 exceptions

Author: petercorke

SE3.m

@@ -435,10 +435,29 @@ R            zeros(3,3)
                 % interp(SE3, SE3, s)  interpolate between given values
                 obj2 = varargin{1};
                 varargin = varargin(2:end);
-                Ti = SE3( trinterp(obj1.T, obj2.T, varargin{:}) );
+                try
+                    Ti = SE3( trinterp(obj1.T, obj2.T, varargin{:}) );
+                catch me
+                    switch me.identifier
+                        case 'RTB:trinterp:badarg'
+                            throw( MException('RTB:SE3:interp:badarg', 'value of S outside interval [0,1]') );
+                        otherwise
+                            rethrow(me);
+                    end
+                end
             else
                 % interp(SE3, s)  interpolate between null and given value
-                Ti = SE3( trinterp(obj1.T, varargin{:}) );
+                try
+                    T = trinterp(obj1.T, varargin{:});
+                catch me
+                    switch me.identifier
+                        case 'RTB:trinterp:badarg'
+                            throw( MException('RTB:SE3:interp:badarg', 'value of S outside interval [0,1]') );
+                        otherwise
+                            rethrow(me);
+                    end
+                end
+                T = SE3(T);
             end
         end
 

trinterp.m

@@ -64,7 +64,7 @@
             % integer value
             r = linspace(0, 1, r);
         elseif any(r<0 | r>1)
-            error('RTB:trinterp', 'values of S outside interval [0,1]');
+            error('RTB:trinterp:badarg', 'values of S outside interval [0,1]');
         end
 
         q0 = UnitQuaternion(T0);
@@ -77,5 +77,5 @@
         end
 
     else
-        error('RTB:trinterp:badarg', 'must be 2 or 3 arguments');
+        error('RTB:trinterp:wrongargs', 'must be 2 or 3 arguments');
     end    

unit_test/RTBPoseTest.m

@@ -5,7 +5,7 @@
 % we will assume that the primitives rotx,trotx, etc. all work
 
 
-function constructor(testCase)
+function constructor_test(testCase)
     q = Quaternion([1 2 3 4]);
     verifyEqual(testCase, q.double(),[1 2 3 4],'absTol',1e-4);
 
@@ -16,7 +16,7 @@ function staticconstructors(testCase)
 end
 
 
-function multiply(testCase)
+function multiply_test(testCase)
     % scalar x scalar
 
         % vector x vector