use armarx::FramedPosition for target

source/armarx/control/pointing/aron/PointAtParams.xml

@@ -2,6 +2,7 @@
 <AronTypeDefinition>
 
     <AronIncludes>
+        <Include include="RobotAPI/libraries/aron/common/aron/framed.xml" />
         <Include include="armarx/control/pointing/aron/Side.xml" />
     </AronIncludes>
 
@@ -15,14 +16,9 @@
                 <::armarx::control::pointing::arondto::Side />
             </ObjectChild>
 
-            <!-- Name of the robot node relative to whose frame 'framedTarget' is given -->
-            <ObjectChild key="frame">
-                <string />
-            </ObjectChild>
-
-            <!-- Position to point at in frame 'frame' -->
-            <ObjectChild key="framedTarget">
-                <position />
+            <!-- Position to point at -->
+            <ObjectChild key="target">
+                <armarx::arondto::FramedPosition />
             </ObjectChild>
 
             <!-- Name of the hand preshape to use. If none is provided, the hand will be

source/armarx/control/pointing/core/Pointing.cpp

@@ -22,14 +22,14 @@ namespace armarx::control::pointing::core
         aborted = false;
 
         ARMARX_INFO << "Pointing with " << ((params.side == Side::LEFT) ? "left" : "right")
-                    << " arm at " << params.framedTarget << " in frame '" << params.frame << "'"
+                    << " arm at " << params.target
                     << (params.handShape ? " with hand shape '" + *params.handShape + "'" : "");
 
         remote_.trajectoryPlayer->stopTrajectoryPlayer();
 
         VirtualRobot::RobotPtr robot = getRobot();
 
-        auto target = PositionInGlobalFrame(robot, params.frame, params.framedTarget);
+        Eigen::Vector3f target = params.target.toGlobalEigen(robot);
         visualizeTarget(target);
 
         armarx::TrajectoryPtr traj = computTrajectory(robot, params.side, target);
@@ -184,18 +184,4 @@ namespace armarx::control::pointing::core
         return shape->getRobotNodeJointValueMap();
     }
 
-    Eigen::Vector3f
-    Pointing::PositionInGlobalFrame(VirtualRobot::RobotPtr robot,
-                                    const std::string& frame,
-                                    const Eigen::Vector3f& framedPosition)
-    {
-        auto node = robot->getRobotNode(frame);
-        if (not node)
-        {
-            ARMARX_ERROR << "Robot '" << robot->getName() << "' has no node '" << frame << "'";
-            throw PointingFailedException();
-        }
-        return node->toGlobalCoordinateSystemVec(framedPosition);
-    }
-
 } // namespace armarx::control::pointing::core

source/armarx/control/pointing/core/Pointing.h

@@ -5,6 +5,7 @@
 #include <RobotAPI/components/ArViz/Client/Client.h>
 #include <RobotAPI/interface/components/TrajectoryPlayerInterface.h>
 #include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <RobotAPI/libraries/core/FramedPose.h>
 #include <RobotAPI/libraries/core/Trajectory.h>
 
 #include "Side.h"
@@ -36,11 +37,8 @@ namespace armarx::control::pointing::core
             /** Side of the arm to point with. */
             Side side;
 
-            /** Name of the robot node relative to whose frame @ref framedTarget is given. */
-            std::string frame;
-
-            /** Position to point at in frame @ref frame. */
-            Eigen::Vector3f framedTarget;
+            /** Position to point at. */
+            armarx::FramedPosition target;
 
             /** Name of the hand preshape to use. If none is provided, the hand will be ignored. */
             std::optional<std::string> handShape;
@@ -105,14 +103,9 @@ namespace armarx::control::pointing::core
 
         void playTrajectory(armarx::TrajectoryPtr traj);
 
-        static Eigen::Vector3f PositionInGlobalFrame(VirtualRobot::RobotPtr robot,
-                                                     const std::string& frame,
-                                                     const Eigen::Vector3f& framedTarget);
-
         static std::map<std::string, float>
         GetShapeJointValues(VirtualRobot::RobotPtr robot, Side side, const std::string& shapeName);
 
-
     private:
         Remote remote_;
         std::atomic_bool aborted;

source/armarx/control/pointing/skills/PointAt.cpp

@@ -12,7 +12,7 @@ namespace armarx::control::pointing::skills
     {
         ParamType defaultParams;
         defaultParams.side = core::Side::RIGHT;
-        defaultParams.frame = "root";
+        defaultParams.target.header.frame = armarx::GlobalFrame;
         defaultParams.handShape = std::make_optional("Pointing");
         defaultParams.maxVelocity = 0.4;
         defaultParams.maxAcceleration = 0.3;

source/armarx/control/pointing/skills/aron_conversions.cpp

@@ -26,8 +26,7 @@ namespace armarx::control::pointing
     skills::fromAron(const arondto::PointAtParams& dto, core::Pointing::Parameters& bo)
     {
         fromAron(dto.side, bo.side);
-        armarx::aron::fromAron(dto.frame, bo.frame);
-        armarx::aron::fromAron(dto.framedTarget, bo.framedTarget);
+        armarx::aron::fromAron(dto.target, bo.target);
         armarx::aron::fromAron(dto.handShape, bo.handShape);
         armarx::aron::fromAron(dto.maxVelocity, bo.maxVelocity);
         armarx::aron::fromAron(dto.maxAcceleration, bo.maxAcceleration);