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Check for nullptr on getGlobalLinkTransform #611

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merged 3 commits into from Aug 16, 2021
Merged

Check for nullptr on getGlobalLinkTransform #611

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de0946d
Check for nullptr on getGlobalLinkTransform
AdamPettinger Aug 13, 2021
67626b7
Change to moveit exceptions
AdamPettinger Aug 14, 2021
22b4b05
Update doxygen
AndyZe Aug 14, 2021
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10 changes: 10 additions & 0 deletions moveit_core/robot_state/include/moveit/robot_state/robot_state.h
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Expand Up @@ -1291,6 +1291,8 @@ class RobotState
* A related, more comprehensive function is |getFrameTransform|, which additionally to link frames
* also searches for attached object frames and their subframes.
*
* This will throw a std::runtime_error if the passed link is not found
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*
* The returned transformation is always a valid isometry.
*/
const Eigen::Isometry3d& getGlobalLinkTransform(const std::string& link_name)
Expand All @@ -1300,6 +1302,10 @@ class RobotState

const Eigen::Isometry3d& getGlobalLinkTransform(const LinkModel* link)
{
if (!link)
{
throw Exception("Invalid link");
}
updateLinkTransforms();
return global_link_transforms_[link->getLinkIndex()];
}
Expand All @@ -1311,6 +1317,10 @@ class RobotState

const Eigen::Isometry3d& getGlobalLinkTransform(const LinkModel* link) const
{
if (!link)
{
throw Exception("Invalid link");
}
BOOST_VERIFY(checkLinkTransforms());
return global_link_transforms_[link->getLinkIndex()];
}
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