Use center + extents in AABB.xml

source/RobotAPI/libraries/ArmarXObjects/aron/AxisAlignedBoundingBox.xml

@@ -9,8 +9,11 @@ The ARON DTO of simox::AxisAlignedBoundingBox.
     <GenerateTypes>
 
          <Object name="simox::arondto::AxisAlignedBoundingBox">
-            <ObjectChild key='limits'>
-                <EigenMatrix rows="3" cols="2" type="float" />
+            <ObjectChild key="center">
+                <Position />
+            </ObjectChild>
+            <ObjectChild key="extents">
+                <Position />
             </ObjectChild>
         </Object>
 

source/RobotAPI/libraries/ArmarXObjects/aron_conversions/simox.cpp

@@ -4,12 +4,14 @@
 
 void simox::fromAron(const arondto::AxisAlignedBoundingBox& dto, AxisAlignedBoundingBox& bo)
 {
-    bo.limits() = dto.limits;
+    bo.center() = dto.center;
+    bo.extents() = dto.extents;
 }
 
 void simox::toAron(arondto::AxisAlignedBoundingBox& dto, const AxisAlignedBoundingBox& bo)
 {
-    dto.limits = bo.limits();
+    dto.center = bo.center();
+    dto.extents = bo.extents();
 }