Update usage of datanavigator vs data

source/RobotAPI/libraries/armem/component/MemoryRemoteGui.cpp

@@ -135,17 +135,15 @@ namespace armarx::armem
     {
         GroupBox group;
 
-        if (instance.dataNavigator())
+        if (instance.data())
         {
-            // ARMARX_IMPORTANT << "Starting visitor";
             RemoteGuiAronDataVisitor visitor;
-            visitor.applyTo(*instance.dataNavigator());
+            visitor.applyTo(*instance.data());
             group = visitor.result;
-            // ARMARX_IMPORTANT << "Ending visitor";
         }
         else
         {
-            group.addChild(Label("(No introspection available.)"));
+            group.addChild(Label("(No data.)"));
         }
 
         std::stringstream ss;

source/RobotAPI/libraries/armem/core/Commit.cpp

@@ -2,6 +2,8 @@
 
 #include <SimoxUtility/algorithm/apply.hpp>
 
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
 
 namespace armarx::armem
 {
@@ -32,4 +34,16 @@ namespace armarx::armem
         }, results);
     }
 
+
+    std::vector<aron::datanavigator::AronDataNavigatorPtr> EntityUpdate::getInstancesDataNavigator() const
+    {
+        return aron::datanavigator::AronDataNavigator::FromAronData(instancesData);
+    }
+
+    aron::datanavigator::AronDataNavigatorPtr EntityUpdate::getInstanceDataNavigator(size_t index) const
+    {
+        ARMARX_CHECK_FITS_SIZE(index, instancesData.size());
+        return aron::datanavigator::AronDataNavigator::FromAronData(instancesData.at(index));
+    }
+
 }

source/RobotAPI/libraries/armem/core/Commit.h

@@ -3,6 +3,7 @@
 #include <vector>
 
 #include <RobotAPI/interface/aron.h>
+#include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDataNavigator.h>
 
 #include "../core/MemoryID.h"
 #include "../core/Time.h"
@@ -43,6 +44,11 @@ namespace armarx::armem
          * Set automatically when sending the commit.
          */
         Time timeSent = Time::microSeconds(-1);
+
+
+        std::vector<aron::datanavigator::AronDataNavigatorPtr> getInstancesDataNavigator() const;
+        aron::datanavigator::AronDataNavigatorPtr getInstanceDataNavigator(size_t index) const;
+
     };
 
 

source/RobotAPI/libraries/armem/core/ice_conversions.cpp

@@ -83,7 +83,7 @@ namespace armarx
     {
         update.entityID = MemoryID::fromString(ice.entityID);
 
-        update.instancesData = aron::datanavigator::AronDataNavigator::FromAronData(ice.instancesData);
+        update.instancesData = ice.instancesData;
         update.timeCreated = Time::microSeconds(ice.timeCreatedMicroSeconds);
 
         update.confidence = ice.confidence;
@@ -93,7 +93,7 @@ namespace armarx
     void armem::toIce(data::EntityUpdate& ice, const EntityUpdate& update)
     {
         ice.entityID = update.entityID.str();
-        ice.instancesData = aron::datanavigator::AronDataNavigator::ToAronData(update.instancesData);
+        ice.instancesData = update.instancesData;
         ice.timeCreatedMicroSeconds = update.timeCreated.toMicroSeconds();
 
         ice.confidence = update.confidence;

source/RobotAPI/libraries/armem/memory/EntityInstance.cpp

@@ -33,7 +33,7 @@ namespace armarx::armem
         ARMARX_CHECK_FITS_SIZE(index, update.instancesData.size());
 
         this->index() = index;
-        setData(update.instancesData.at(size_t(index)));
+        setData(update.getInstanceDataNavigator(size_t(index)));
 
         this->_metadata.confidence = update.confidence;
 

source/RobotAPI/libraries/armem/memory/EntityInstance.h

@@ -72,10 +72,6 @@ namespace armarx::armem
         }
         void setData(const aron::datanavigator::AronDataNavigatorPtr& data);
 
-        inline armarx::aron::datanavigator::AronDataNavigatorPtr dataNavigator() const
-        {
-            return _dataNavigator;
-        }
 
 
         /**
@@ -99,10 +95,8 @@ namespace armarx::armem
 
         EntityInstanceMetadata _metadata;
 
-        /// The actual data.
+        /// The data. May be nullptr.
         armarx::aron::datanavigator::AronDataNavigatorPtr _data;
-        /// Allows investigating `data`'s structure. May be nullptr.
-        armarx::aron::datanavigator::AronDataNavigatorPtr _dataNavigator;
 
     };