Use proprioception type. WIP: Transform robot unit data to format

source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp

@@ -26,6 +26,7 @@
 #include <RobotAPI/libraries/armem_robot/aron_conversions.h>
 #include <RobotAPI/libraries/armem_robot/robot_conversions.h>
 #include <RobotAPI/libraries/armem_robot/aron/RobotDescription.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
 
 
 namespace armarx::armem::server::robot_state::description

source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp

@@ -21,7 +21,7 @@
 
 #include <RobotAPI/libraries/armem_robot/robot_conversions.h>
 #include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
-#include <RobotAPI/libraries/armem_robot_state/aron/JointState.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
 
 #include <RobotAPI/libraries/armem_objects/aron_conversions.h>
 
@@ -31,7 +31,7 @@ namespace armarx::armem::server::robot_state::proprioception
 {
 
     Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
-        SpecializedSegment(memoryToIceAdapter, nullptr,
+        SpecializedSegment(memoryToIceAdapter, prop::arondto::Proprioception::toAronType(),
                            "Proprioception", 1024)
     {
     }
@@ -106,23 +106,20 @@ namespace armarx::armem::server::robot_state::proprioception
                 TIMING_END_COMMENT_STREAM(tGetLatestInstance, "tGetLatestInstance " + std::to_string(i), ARMARX_DEBUG);
 
                 TIMING_START(tCastJointState);
-                // tryCast is too slow.
-                // const auto jointState = tryCast<armarx::armem::arondto::JointState>(entityInstance);
                 aron::datanavigator::DictNavigatorPtr data = entityInstance.data();
                 // Avoid throwing an exception.
                 if (!(data->hasElement("name") && data->hasElement("position")))
                 {
                     continue;
                 }
-                armarx::armem::arondto::JointState jointState;
-                jointState.name = adn::StringNavigator::DynamicCastAndCheck(data->getElement("name"))->getValue();
-                jointState.position = adn::FloatNavigator::DynamicCastAndCheck(data->getElement("position"))->getValue();
+                const std::string jointName = adn::StringNavigator::DynamicCastAndCheck(data->getElement("name"))->getValue();
+                const float jointPosition = adn::FloatNavigator::DynamicCastAndCheck(data->getElement("position"))->getValue();
                 TIMING_END_COMMENT_STREAM(tCastJointState, "tCastJointState " + std::to_string(i), ARMARX_DEBUG);
 
                 TIMING_START(tEmplace);
-                if (jointState.name.size() > 0)
+                if (not jointName.empty())
                 {
-                    jointMap[robotName].emplace(jointState.name, jointState.position);
+                    jointMap[robotName].emplace(jointName, jointPosition);
                 }
                 else
                 {