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/usr/include/rosbag/exceptions.h is in librosbag-storage-dev 1.13.5+ds1-3.

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/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of Willow Garage, Inc. nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#ifndef ROSBAG_EXCEPTIONS_H
#define ROSBAG_EXCEPTIONS_H

#include <ros/exception.h>

namespace rosbag {

//! Base class for rosbag exceptions
class BagException : public ros::Exception
{
public:
    BagException(std::string const& msg) : ros::Exception(msg) { }
};

//! Exception thrown when on IO problems
class BagIOException : public BagException
{
public:
    BagIOException(std::string const& msg) : BagException(msg) { }
};

//! Exception thrown on problems reading the bag format
class BagFormatException : public BagException
{
public:
    BagFormatException(std::string const& msg) : BagException(msg) { }
};

//! Exception thrown on problems reading the bag index
class BagUnindexedException : public BagException
{
public:
    BagUnindexedException() : BagException("Bag unindexed") { }
};

} // namespace rosbag

#endif