occupancy grid types

source/RobotAPI/libraries/armem_vision/aron/OccupancyGrid.xml

+<!--Some fancy comment -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+    <CodeIncludes>
+    </CodeIncludes>
+    <AronIncludes>
+    </AronIncludes>
+
+    <GenerateTypes>
+
+        <Object name='armarx::armem::arondto::OccupancyGrid'>
+            <ObjectChild key='resolution'>
+                <float />
+            </ObjectChild>
+            <ObjectChild key='frame'>
+                <string />
+            </ObjectChild>
+            <ObjectChild key='pose'>
+                <Pose />
+            </ObjectChild>
+            
+            <!-- 
+            <ObjectChild key='grid'>
+                <NdArray />
+            </ObjectChild> -->
+        </Object>
+
+
+    </GenerateTypes>
+</AronTypeDefinition> 
\ No newline at end of file

source/RobotAPI/libraries/armem_robot_mapping/types.h → source/RobotAPI/libraries/armem_vision/types.h

@@ -21,10 +21,12 @@
 
 #pragma once
 
+#include <vector>
+
 #include <RobotAPI/libraries/armem/core/Time.h>
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
 
-namespace armarx
+namespace armarx::armem
 {
 
     struct SensorHeader
@@ -40,4 +42,16 @@ namespace armarx
         LaserScan data;
     };
 
-} // namespace armarx
+
+    struct OccupancyGrid
+    {
+        float resolution;
+
+        std::string frame;
+        Eigen::Affine3f pose;
+
+        using Grid = std::vector<std::vector<float>>;
+        Grid grid;
+    };
+
+}  // namespace armarx::armem