Merge branch 'feature/use-armem-locations-in-demo' into 'master'

Add armem_locations (copy of Locations from navigation). ToDo: Also migrate other ARON types

See merge request !291

source/RobotAPI/libraries/CMakeLists.txt

@@ -21,6 +21,7 @@ add_subdirectory(aron_component_config)
 add_subdirectory(armem)
 add_subdirectory(armem_grasping)
 add_subdirectory(armem_gui)
+add_subdirectory(armem_locations)
 add_subdirectory(armem_motions)
 add_subdirectory(armem_mps)
 add_subdirectory(armem_objects)

source/RobotAPI/libraries/armem_locations/CMakeLists.txt

+set(LIB_NAME       armem_locations)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_add_library(
+    LIBS     
+        ArmarXCoreInterfaces
+        ArmarXCore
+        ArmarXCoreObservers
+
+        RobotAPI::Core
+        RobotAPI::armem
+        # aronjsonconverter
+    SOURCES  
+        ./aron_conversions.cpp
+
+    HEADERS  
+        ./aron_conversions.h
+)
+
+armarx_enable_aron_file_generation_for_target(
+    TARGET_NAME
+        "${LIB_NAME}"
+    ARON_FILES
+        aron/Location.xml
+)
+
+
+add_library(RobotAPI::armem_locations ALIAS armem_locations)

source/RobotAPI/libraries/armem_locations/aron/Location.xml

+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+    <CodeIncludes>
+    </CodeIncludes>
+    <AronIncludes>
+        <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true"/>
+    </AronIncludes>
+
+    <GenerateTypes>
+
+        <!--
+        ToDo: Model regions. Ideas:
+        - Polygon (convex, non-convex)
+        -
+        -->
+
+
+        <Object name='armarx::navigation::location::arondto::ObjectRelativeLocation'>
+
+            <ObjectChild key='objectInstanceID'>
+                <armarx::armem::arondto::MemoryID />
+            </ObjectChild>
+
+            <ObjectChild key='relativeRobotPose'>
+                <Pose />
+            </ObjectChild>
+
+        </Object>
+
+
+        <Object name='armarx::navigation::location::arondto::Location'>
+
+            <ObjectChild key='globalRobotPose'>
+                <Pose />
+            </ObjectChild>
+
+            <ObjectChild key='relativeToObject'>
+                <armarx::navigation::location::arondto::ObjectRelativeLocation optional="true" />
+            </ObjectChild>
+
+        </Object>
+
+    </GenerateTypes>
+</AronTypeDefinition>

source/RobotAPI/libraries/armem_locations/aron_conversions.cpp

+#include "aron_conversions.h"
+
+namespace armarx::armem
+{
+
+}

source/RobotAPI/libraries/armem_locations/aron_conversions.h

+#pragma once
+
+
+namespace armarx::armem
+{
+
+}