From 5f302ff42dbfd64abf30e54d54e89f642686d642 Mon Sep 17 00:00:00 2001
From: David <david.schiebener@kit.edu>
Date: Thu, 26 Feb 2015 16:59:10 +0100
Subject: [PATCH] fixed a null handle exception that occurs when no orientation
is given
---
source/RobotAPI/libraries/core/FramedPose.cpp | 13 +++++++++----
1 file changed, 9 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index 6f31a7419..c9c160c71 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();
--
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