diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp index 6f31a74198570c0200f7802d90b114444c0ad5a4..c9c160c7105da6ecaf19d411986ea1f93254e653 100644 --- a/source/RobotAPI/libraries/core/FramedPose.cpp +++ b/source/RobotAPI/libraries/core/FramedPose.cpp @@ -595,16 +595,21 @@ namespace armarx { VirtualRobot::LinkedCoordinate c(virtualRobot); std::string frame; - if(position) + if (position) { frame = position->getFrame(); - if(!frame.empty() && frame != orientation->getFrame()) - throw armarx::UserException("Error: frames mismatch"); + if (orientation) + { + if(!frame.empty() && frame != orientation->getFrame()) + { + throw armarx::UserException("Error: frames mismatch"); + } + } } else { - if(!orientation) + if (!orientation) armarx::UserException("createLinkedCoordinate: orientation and position are both NULL"); else frame = orientation->getFrame();