diff --git a/source/armarx/control/pointing/core/Pointing.cpp b/source/armarx/control/pointing/core/Pointing.cpp
index d39ff8b934cd453830ed075d8624e88efaf21016..2cf6932802f54ceb652816f7b753e43511230408 100644
--- a/source/armarx/control/pointing/core/Pointing.cpp
+++ b/source/armarx/control/pointing/core/Pointing.cpp
@@ -64,7 +64,7 @@ namespace armarx::control::pointing::core
         if (not robot)
         {
             ARMARX_ERROR << "Could not get synchronized robot '" << remote_.robotName << "'";
-            throw PointingFailedException();
+            throw armarx::exceptions::local::PointingFailedException();
         }
         return robot;
     }
@@ -96,12 +96,12 @@ namespace armarx::control::pointing::core
             if (ik.optimize() < 1e-6)
             {
                 ARMARX_WARNING << "PointingIK didn't find a solution";
-                throw PointingFailedException();
+                throw armarx::exceptions::local::PointingFailedException();
             }
             if (aborted)
             {
                 ARMARX_INFO << "Pointing aborted.";
-                throw PointingAbortedException();
+                throw armarx::exceptions::local::PointingAbortedException();
             }
         } while (not ik.isTargetReached());
 
@@ -160,7 +160,7 @@ namespace armarx::control::pointing::core
             {
                 ARMARX_INFO << "Pointing aborted. Stopping trajectory";
                 remote_.trajectoryPlayer->stopTrajectoryPlayer();
-                throw PointingAbortedException();
+                throw armarx::exceptions::local::PointingAbortedException();
             }
             clock.waitFor(Duration::MilliSeconds(10));
         }
@@ -179,7 +179,7 @@ namespace armarx::control::pointing::core
         if (not shape)
         {
             ARMARX_ERROR << "Hand '" << eefName << "' has no shape '" << shape << "'";
-            throw PointingFailedException();
+            throw armarx::exceptions::local::PointingFailedException();
         }
         return shape->getRobotNodeJointValueMap();
     }
diff --git a/source/armarx/control/pointing/core/Pointing.h b/source/armarx/control/pointing/core/Pointing.h
index bd03e63a3b94d34f02c36d4e46e8c2892149a2be..0de3de67b6be25093e017c1981d5f7f350830f10 100644
--- a/source/armarx/control/pointing/core/Pointing.h
+++ b/source/armarx/control/pointing/core/Pointing.h
@@ -10,6 +10,21 @@
 
 #include "Side.h"
 
+namespace armarx::exceptions::local
+{
+    class PointingException : public armarx::LocalException
+    {
+    };
+
+    class PointingFailedException : public PointingException
+    {
+    };
+
+    class PointingAbortedException : public PointingException
+    {
+    };
+} // namespace armarx::exceptions::local
+
 namespace armarx::control::pointing::core
 {
 
@@ -50,19 +65,6 @@ namespace armarx::control::pointing::core
             double maxAcceleration;
         };
 
-        class PointingException : public std::exception
-        {
-        };
-
-        class PointingFailedException : public PointingException
-        {
-        };
-
-        class PointingAbortedException : public PointingException
-        {
-        };
-
-
     public:
         Pointing(const Remote& remote);
 
@@ -74,9 +76,10 @@ namespace armarx::control::pointing::core
          *
          * @param params Parameterization of the pointing gesture.
          *
-         * @throws PointingFailedException Thrown if the pointing gesture could not be executed.
-         * @throws Thrown when the execution is aborted with @ref abort before reaching the target
-         *         configuration.
+         * @throws armarx::exceptions::local::PointingFailedException Thrown if the pointing gesture
+         *         could not be executed.
+         * @throws armarx::exceptions::local::PointingAbortedException Thrown when the execution is
+         *         aborted with @ref abort() before reaching the target configuration.
          */
         void execute(const Parameters params);
 
diff --git a/source/armarx/control/pointing/skills/PointAt.cpp b/source/armarx/control/pointing/skills/PointAt.cpp
index fbe895cfe32e67c0e7d7a2c0f3d8b112a26c069c..b10fa328335e32733e4df4da94730e2ccb51a8a2 100644
--- a/source/armarx/control/pointing/skills/PointAt.cpp
+++ b/source/armarx/control/pointing/skills/PointAt.cpp
@@ -37,11 +37,11 @@ namespace armarx::control::pointing::skills
         {
             impl_->execute(parameters);
         }
-        catch (core::Pointing::PointingFailedException&)
+        catch (armarx::exceptions::local::PointingFailedException&)
         {
             return MakeFailedResult();
         }
-        catch (core::Pointing::PointingAbortedException&)
+        catch (armarx::exceptions::local::PointingAbortedException&)
         {
             return MakeAbortedResult();
         }
diff --git a/source/armarx/control/pointing/skills/PointAt.h b/source/armarx/control/pointing/skills/PointAt.h
index ff3655fd36c53bb01985597340f7b0956103c998..3e52906b08167f17507df932b8d7dafc9c9763d0 100644
--- a/source/armarx/control/pointing/skills/PointAt.h
+++ b/source/armarx/control/pointing/skills/PointAt.h
@@ -7,6 +7,11 @@
 
 namespace armarx::control::pointing::skills
 {
+    /**
+     * @brief Implementation of the PointAt-skill
+     *
+     * @ingroup Library-pointing
+     */
     class PointAt : public armarx::skills::SimpleSpecializedSkill<arondto::PointAtParams>
     {
     public: