Update usages

source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp

@@ -49,8 +49,8 @@
 namespace armarx::articulated_object
 {
     ArticulatedObjectLocalizerExample::ArticulatedObjectLocalizerExample() :
-        articulatedObjectWriter(new ::armarx::armem::articulated_object::ArticulatedObjectWriter(memoryNameSystem)),
-        articulatedObjectReader(new ::armarx::armem::articulated_object::ArticulatedObjectReader(memoryNameSystem))
+        articulatedObjectWriter(new ::armarx::armem::articulated_object::ArticulatedObjectWriter(memoryNameSystem())),
+        articulatedObjectReader(new ::armarx::armem::articulated_object::ArticulatedObjectReader(memoryNameSystem()))
     {
     }
 
@@ -90,7 +90,8 @@ namespace armarx::articulated_object
         start = armem::Time::now();
 
         task = new PeriodicTask<ArticulatedObjectLocalizerExample>(
-            this, &ArticulatedObjectLocalizerExample::run, 1000.f / p.updateFrequency);
+            this, &ArticulatedObjectLocalizerExample::run,
+            static_cast<int>(1000.f / p.updateFrequency));
         task->start();
     }
 

source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h

@@ -13,7 +13,7 @@
 #include "RobotAPI/libraries/armem/core/Time.h"
 #include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
 #include <RobotAPI/interface/armem/server/MemoryInterface.h>
-#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/client/plugins.h>
 #include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
 #include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h>
 #include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h>

source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h

@@ -31,10 +31,12 @@
 #include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
 
 // RobotAPI
-#include <RobotAPI/interface/armem/server/MemoryInterface.h>
-#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
 #include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+#include <RobotAPI/libraries/armem/client/plugins.h>
+#include <RobotAPI/interface/armem/server/MemoryInterface.h>
+#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem/client/Writer.h>
 
 
 namespace armarx
@@ -111,6 +113,8 @@ namespace armarx
         };
         Properties p;
 
+        armem::client::Reader memoryReader;
+        armem::client::Writer memoryWriter;
 
         armem::MemoryID exampleProviderID;
         armem::MemoryID exampleEntityID;

source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h

@@ -32,7 +32,7 @@
 // RobotAPI
 #include <RobotAPI/interface/armem/server/MemoryInterface.h>
 #include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/client/plugins.h>
 #include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
 
 #include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>