using armem::Time instead of int64

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

@@ -34,4 +34,4 @@ namespace armarx::armem
      */
     Time timeFromStringMicroSeconds(const std::string& microSeconds);
 
-}
+}  // namespace armarx::armem

source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp

@@ -97,9 +97,7 @@ namespace armarx::armem
             .coreSegments().withName(properties.mappingMemoryName)
             .providerSegments().withName(query.agent)
             .entities().all()
-            .snapshots().timeRange(
-                IceUtil::Time::microSeconds(query.timeRange.min),
-                IceUtil::Time::microSeconds(query.timeRange.max));
+            .snapshots().timeRange(query.timeRange.min, query.timeRange.max);
             // clang-format on
         }
         else
@@ -109,9 +107,7 @@ namespace armarx::armem
             .coreSegments().withName(properties.mappingMemoryName)
             .providerSegments().withName(query.agent)
             .entities().withNames(query.sensorList)
-            .snapshots().timeRange(
-                IceUtil::Time::microSeconds(query.timeRange.min),
-                IceUtil::Time::microSeconds(query.timeRange.max));
+            .snapshots().timeRange(query.timeRange.min,query.timeRange.max);
             // clang-format on
         }
 

source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h

@@ -45,8 +45,8 @@ namespace armarx::armem
 
     struct TimeRange
     {
-        std::int64_t min;
-        std::int64_t max;
+        Time min;
+        Time max;
     };
 
     /**

source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp

@@ -63,7 +63,7 @@ namespace armarx::armem
             return false;
         }
 
-        const auto iceTimestamp = IceUtil::Time::microSeconds(timestamp);
+        const auto iceTimestamp = Time::microSeconds(timestamp);
 
         const auto providerId = armem::MemoryID(result.segmentID);
         const auto entityID =
@@ -75,7 +75,7 @@ namespace armarx::armem
 
         arondto::LaserScanStamped aronSensorData;
         // currently only sets the header
-        toAron(laserScan, timestamp, frame, agentName, aronSensorData);
+        toAron(laserScan, iceTimestamp, frame, agentName, aronSensorData);
 
         auto dict = aronSensorData.toAron();
         dict->addElement("scan", toAron(laserScan));

source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.cpp

 #include "aron_conversions.h"
 
 #include <algorithm>
+#include <cstdint>
 #include <iterator>
 
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
@@ -16,11 +17,17 @@ namespace armarx
 
     /************ fromAron ************/
 
+    armem::Time timeFromAron(const int64_t timestamp)
+    {
+        return armem::Time::microSeconds(timestamp);
+    }
+
     SensorHeader fromAron(const arondto::SensorHeader& aronSensorHeader)
     {
+        
         return {.agent = aronSensorHeader.agent,
                 .frame = aronSensorHeader.frame,
-                .timestamp = aronSensorHeader.timestamp};
+                .timestamp = timeFromAron(aronSensorHeader.timestamp)};
     }
 
     void fromAron(const arondto::LaserScanStamped& aronLaserScan,
@@ -38,7 +45,7 @@ namespace armarx
 
         // laserScan = fromAron(aronLaserScan.data);
 
-        timestamp = header.timestamp;
+        timestamp = header.timestamp.toMicroSeconds();
         frame = header.frame;
         agentName = header.agent;
     }
@@ -52,13 +59,18 @@ namespace armarx
     //     aronLaserScan.scan = toAron(laserScan);
     // }
 
+    int64_t toAron(const armem::Time& timestamp)
+    {
+        return timestamp.toMicroSeconds();
+    }
+
     arondto::SensorHeader toAron(const SensorHeader& sensorHeader)
     {
         arondto::SensorHeader aronSensorHeader;
 
         aronSensorHeader.agent = sensorHeader.agent;
         aronSensorHeader.frame = sensorHeader.frame;
-        aronSensorHeader.timestamp = sensorHeader.timestamp;
+        aronSensorHeader.timestamp = toAron(sensorHeader.timestamp);
 
         return aronSensorHeader;
     }
@@ -71,7 +83,7 @@ namespace armarx
     }
 
     void toAron(const LaserScan& laserScan,
-                const std::int64_t& timestamp,
+                const armem::Time& timestamp,
                 const std::string& frame,
                 const std::string& agentName,
                 arondto::LaserScanStamped& aronLaserScanStamped)

source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.h

@@ -25,6 +25,7 @@
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
 #include <RobotAPI/libraries/aron/converter/common/VectorConverter.h>
 #include <RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
 
 namespace armarx
 {
@@ -55,7 +56,7 @@ namespace armarx
 
     void toAron(
         const LaserScan& laserScan,
-        const std::int64_t& timestamp,
+        const armem::Time& timestamp,
         const std::string& frame,
         const std::string& agentName,
         arondto::LaserScanStamped& aronLaserScan);

source/RobotAPI/libraries/armem_robot_mapping/types.h

@@ -21,6 +21,7 @@
 
 #pragma once
 
+#include <RobotAPI/libraries/armem/core/Time.h>
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
 
 namespace armarx
@@ -30,7 +31,7 @@ namespace armarx
     {
         std::string agent;
         std::string frame;
-        std::int64_t timestamp;
+        armem::Time timestamp;
     };
 
     struct LaserScanStamped