Use AronDataNavigator instead of AronData in EntityUpdate

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

@@ -34,16 +34,4 @@ 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

@@ -2,7 +2,6 @@
 
 #include <vector>
 
-#include <RobotAPI/interface/aron.h>
 #include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDataNavigator.h>
 
 #include "../core/MemoryID.h"
@@ -21,7 +20,7 @@ namespace armarx::armem
         MemoryID entityID;
 
         /// The entity data.
-        std::vector<::armarx::aron::data::AronDataPtr> instancesData;
+        std::vector<aron::datanavigator::AronDataNavigatorPtr> instancesData;
 
         /**
          * @brief Time when this entity update was created (e.g. time of image recording).
@@ -45,10 +44,6 @@ namespace armarx::armem
          */
         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 = ice.instancesData;
+        update.instancesData = aron::datanavigator::AronDataNavigator::FromAronData(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 = update.instancesData;
+        ice.instancesData = aron::datanavigator::AronDataNavigator::ToAronData(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.getInstanceDataNavigator(size_t(index)));
+        setData(update.instancesData.at(size_t(index)));
 
         this->_metadata.confidence = update.confidence;
 

source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp

@@ -25,10 +25,13 @@
 #define ARMARX_BOOST_TEST
 
 #include <RobotAPI/Test.h>
+
 #include "../memory/Memory.h"
 #include "../error/ArMemError.h"
 
+
 #include <iostream>
+#include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.h>
 
 
 namespace armem = armarx::armem;
@@ -111,8 +114,8 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
     update.entityID = armem::MemoryID::fromString("Memory/ImageRGB/SomeRGBImageProvider/image");
     update.instancesData =
     {
-        aron::data::AronDataPtr(new aron::data::AronData()),
-        aron::data::AronDataPtr(new aron::data::AronData())
+        std::make_shared<aron::datanavigator::AronIntDataNavigator>(),
+        std::make_shared<aron::datanavigator::AronIntDataNavigator>()
     };
     update.timeCreated = armem::Time::milliSeconds(1000);
     BOOST_CHECK_NO_THROW(providerSegment.update(update));
@@ -132,7 +135,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
 
     // Another update (on memory).
 
-    update.instancesData = { aron::data::AronDataPtr(new aron::data::AronData()) };
+    update.instancesData = { std::make_shared<aron::datanavigator::AronIntDataNavigator>() };
     update.timeCreated = armem::Time::milliSeconds(2000);
     memory->update(update);
     BOOST_CHECK_EQUAL(entity.history.size(), 2);
@@ -141,7 +144,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
 
 
     // A third update (on entity).
-    update.instancesData = { aron::data::AronDataPtr(new aron::data::AronData()) };
+    update.instancesData = { std::make_shared<aron::datanavigator::AronIntDataNavigator>() };
     update.timeCreated = armem::Time::milliSeconds(3000);
     entity.update(update);
     BOOST_CHECK_EQUAL(entity.history.size(), 3);