From 02e5e1b88c22a9cacf928db235134f42787f8cc8 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 3 Dec 2021 10:09:22 +0100
Subject: [PATCH] Throw exception instead of segfaulting when the current frame
does not exist
---
source/RobotAPI/libraries/core/FramedPose.cpp | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index 852477268..c5e4d774b 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -349,6 +349,10 @@ namespace armarx
Eigen::Matrix4f oldFrameTransformation = Eigen::Matrix4f::Identity();
+ if (frame != GlobalFrame and !referenceRobot->hasRobotNode(frame))
+ {
+ throw LocalException() << "The current frame '" << frame << "' does not exists in the robot " << referenceRobot->getName();
+ }
if (!referenceRobot->hasRobotNode(newFrame))
{
throw LocalException() << "The requested frame '" << newFrame << "' does not exists in the robot " << referenceRobot->getName();
--
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