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== Exceptions used in the tf package ==
All exceptions in [[tf]] inherit from 
`tf::TransformException`, which inherits from `std::runtime_error`.

`tf::ConnectivityException`
  Thrown if the request cannot be completed due to the two frame ids not being in the same connected tree. 
`tf::ExtrapolationException`
  Thrown if there is a connection between the frame ids requested but one or more of the transforms are out of date.
`tf::InvalidArgument`
  Thrown if an argument is invalid.  The most common case is an unnormalized quaternion. 
`tf::LookupException`
   Thrown if an unpublished frame id is referenced.