Merge pull request #3834 from AllisonJohn/casadi_solver_exceptions

Added exceptions for when CasOCSolver solve() fails in MocoCasADiSolver

CHANGELOG.md

@@ -66,6 +66,8 @@ pointer to avoid crashes in scripting due to invalid pointer ownership (#3781).
 - Fixed bug in `Logger::cout`, now it works at any logger level. (#3826)
 - Fixed bugs in `MocoCasOCProblem` and `CasOC::Problem` with incorrect string formatting. (#3828)
 - Fixed `MocoOrientationTrackingGoal::initializeOnModelImpl` to check for missing kinematic states, but allow other missing columns. (#3830)
+- Improved exception handling for internal errors in `MocoCasADiSolver`. Problems will now abort and print a descriptive error message (rather than fail due to an empty trajectory). (#3834)
+
 
 
 v4.5

OpenSim/Moco/MocoCasADiSolver/MocoCasADiSolver.cpp

@@ -385,8 +385,16 @@ MocoSolution MocoCasADiSolver::solveImpl() const {
     CasOC::Solution casSolution;
     try {
         casSolution = casSolver->solve(casGuess);
+    } catch(const Exception& ex) {
+        OPENSIM_THROW_FRMOBJ(Exception,
+            fmt::format("MocoCasADiSolver failed internally with message: {}",
+                ex.getMessage()));
+    } catch(const casadi::CasadiException& ex) {
+        OPENSIM_THROW_FRMOBJ(Exception,
+            fmt::format("MocoCasADiSolver failed internally with message: {}",
+                ex.what()));
     } catch (...) {
-        OpenSim::Logger::setLevel(origLoggerLevel);
+        OPENSIM_THROW_FRMOBJ(Exception, "MocoCasADiSolver failed internally.");
     }
     OpenSim::Logger::setLevel(origLoggerLevel);