moving functionality from NDArrayNavigator to VectorConverter

source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.h

@@ -63,7 +63,7 @@ namespace armarx
 
     inline aron::datanavigator::NDArrayNavigatorPtr toAron(const LaserScan& laserScan)
     {
-        return aron::datanavigator::NDArrayNavigator::FromVector(laserScan);
+        return aron::converter::AronVectorConverter::ConvertFromVector(laserScan);
     }
 
 

source/RobotAPI/libraries/aron/converter/common/VectorConverter.h

@@ -39,7 +39,7 @@ namespace armarx::aron::converter
     {
     public:
         AronVectorConverter() = delete;
-       
+
         template<typename T>
         static std::vector<T> ConvertToVector(const datanavigator::NDArrayNavigatorPtr& nav)
         {
@@ -47,16 +47,16 @@ namespace armarx::aron::converter
 
             const auto& dims = nav->getDimensions();
 
-            if(dims.size() != 2)
+            if (dims.size() != 2)
             {
                 throw error::AronException("AronVectorConverter", "ConvertToVector", "The NDArray must have two dimensions.", nav->getPath());
             }
-            
-            if(dims.at(1) != sizeof(T))
+
+            if (dims.at(1) != sizeof(T))
             {
                 throw error::AronException("AronVectorConverter", "ConvertToVector", "Dimension 1 of the array has to match the element size.", nav->getPath());
             }
-            
+
             const int size = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<>());
 
             std::vector<T> v(dims.at(0));
@@ -64,6 +64,19 @@ namespace armarx::aron::converter
 
             return v;
         }
+
+
+        template<typename T>
+        static datanavigator::NDArrayNavigatorPtr ConvertFromVector(const std::vector<T>& data)
+        {
+            datanavigator::NDArrayNavigatorPtr ndArr(new datanavigator::NDArrayNavigator);
+
+            ndArr->setDimensions({static_cast<int>(data.size()), sizeof(T)});
+            ndArr->setData(sizeof(T) * data.size(), reinterpret_cast <const unsigned char* >(data.data()));
+
+            return ndArr;
+        }
+
     };
 
 }  // namespace armarx::aron::converter

source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h

@@ -68,31 +68,10 @@ namespace armarx::aron::datanavigator
         /// Return dimensions in a readable string such as "(2, 3, 4)".
         static std::string DimensionsToString(const std::vector<int>& dimensions);
 
-        // TODO(fabian.reister): move this to VectorConverter?
-        template<typename T>
-        static NDArrayNavigatorPtr FromVector(const std::vector<T>& data)
-        {
-            NDArrayNavigatorPtr ndArr(new NDArrayNavigator);
-
-            ndArr->setDimensions({static_cast<int>(data.size()), sizeof(T)});
-            ndArr->setData(data);
-
-            return ndArr;
-        }
-
-
         // public member functions
         unsigned char* getData() const;
         void setData(unsigned int, const unsigned char*);
 
-        // TODO(fabian.reister): move this to VectorConverter?
-        template<typename T>
-        void setData(const std::vector<T>& data)
-        {
-            using E = typename decltype(aron->data)::value_type;
-            setData(sizeof(T) * data.size(), reinterpret_cast < const E* >(data.data()));
-        }
-
         std::vector<int> getDimensions() const;
         void setDimensions(const std::vector<int>&);
         void addDimension(int);