fixing bounding box for familiarobjectinstance

source/RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.xml

@@ -53,7 +53,7 @@ Core segment type of Object/Instance.
 
             <!-- Orientation of the bounding box in the 'sens' frame -->
             <ObjectChild key="boundingBoxOrientation">
-                <FramedOrientation optional="true" />
+                <Orientation optional="true" />
             </ObjectChild>
 
             <!-- bounding box in local sensFrame (see poseSensFrame) -->

source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp

@@ -94,7 +94,7 @@ namespace armarx::armem::server::obj::familiar_object_instance
 
                         if(familiarObject.boundingBoxOrientation.has_value())
                         {
-                            obj_T_bb.linear() = familiarObject.boundingBoxOrientation->orientation.toRotationMatrix();
+                            obj_T_bb.linear() = familiarObject.boundingBoxOrientation->toRotationMatrix();
                         }
 
                         const Eigen::Isometry3f global_T_bb = global_T_obj * obj_T_bb;

source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp

@@ -26,6 +26,7 @@
 
 #include <SimoxUtility/meta/type_name.h>
 
+#include <RobotAPI/interface/aron/Aron.h>
 #include <RobotAPI/libraries/aron/codegeneration_util/TypeName.h>
 
 namespace armarx::aron::codegenerator::cpp::generator
@@ -176,7 +177,7 @@ namespace armarx::aron::codegenerator::cpp::generator
     {
         CppBlockPtr block_if_data = std::make_shared<CppBlock>();
         block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" +
-                               otherInstanceAccessor + ")))");
+                               (type.getMaybe() != type::Maybe::NONE ? "*" + otherInstanceAccessor : otherInstanceAccessor) + ")))");
         block_if_data->addLineAsBlock("return false;");
         return resolveMaybeEqualsBlock(block_if_data, accessor, otherInstanceAccessor);
     }