error handling for FramdPosition-conversion

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

@@ -30,7 +30,7 @@ namespace armarx::control::pointing::core
 
         VirtualRobot::RobotPtr robot = getRobot();
 
-        Eigen::Vector3f target = params.target.toGlobalEigen(robot);
+        Eigen::Vector3f target = toGlobal(params.target, robot);
         visualizeTarget(target);
 
         armarx::TrajectoryPtr traj = computeArmTrajectory(robot, params.side, target);
@@ -70,6 +70,18 @@ namespace armarx::control::pointing::core
         return robot;
     }
 
+    Eigen::Vector3f
+    Pointing::toGlobal(const FramedPosition& framedPosition, VirtualRobot::RobotPtr robot)
+    {
+        if (not(framedPosition.frame == armarx::GlobalFrame ||
+                robot->hasRobotNode(framedPosition.frame)))
+        {
+            ARMARX_ERROR << "'" << framedPosition.frame << "' is not a valid frame name";
+            throw armarx::exceptions::local::PointingFailedException();
+        }
+        return framedPosition.toGlobalEigen(robot);
+    }
+
     void
     Pointing::visualizeTarget(const Eigen::Vector3f& target)
     {

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

@@ -92,6 +92,8 @@ namespace armarx::control::pointing::core
     private:
         VirtualRobot::RobotPtr getRobot();
 
+        Eigen::Vector3f toGlobal(const armarx::FramedPosition&, VirtualRobot::RobotPtr);
+
         void visualizeTarget(const Eigen::Vector3f& target);
 
         armarx::TrajectoryPtr