Loading LTM into current WM on startup of memory server.

As the snapshots are the oldest though, they will be forgotten relatively fast if maxHistorySize for that CoreSegment is small.
Currently import path is assumed to be the same as export path or empty.
When empty, nothing is done, when non-empty export path and export name are used to import last snapshots for this memory.

source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h

@@ -52,6 +52,8 @@ namespace armarx::armem::server::ltm::detail
         configure()
         {
             bool en = p.enabled_on_startup;
+            ARMARX_INFO << VAROUT(p.import_name);
+            ARMARX_INFO << VAROUT(p.import_path);
             ARMARX_INFO << VAROUT(p.configuration_on_startup);
             ARMARX_INFO << VAROUT(p.export_name);
             this->setExportName(p.export_name);
@@ -75,6 +77,12 @@ namespace armarx::armem::server::ltm::detail
             {
                 this->startRecording();
             }
+
+            std::string importPath = p.import_path;
+
+            if (importPath.length() > 0){
+                this->loadOnStartup();
+            }
         }
 
         /// enable this LTM
@@ -203,6 +211,8 @@ namespace armarx::armem::server::ltm::detail
             defs->optional(p.enabled_on_startup, prefix + "enabled");
             defs->optional(p.configuration_on_startup, prefix + "configuration");
             defs->optional(p.export_name, prefix + "exportName");
+            defs->optional(p.import_name, prefix + "importName");
+            defs->optional(p.import_path, prefix + "importPath");
         }
 
         /// enable/disable
@@ -270,6 +280,16 @@ namespace armarx::armem::server::ltm::detail
             return "LT-Memory";
         }
 
+        void loadOnStartup(){
+            ARMARX_INFO << "Loading on startup from " << p.import_path << "/" << p.import_name;
+            try{
+                this->loadAllAndResolve();
+            }
+            catch(...){
+                ARMARX_INFO << "Could not load memory " << this->name() << " on startup";
+            }
+        }
+
     protected:
         /// configuration
         virtual void
@@ -307,6 +327,8 @@ namespace armarx::armem::server::ltm::detail
                 "\"PngConverter\": {}, \"ExrConverter\": {}}"; //record with 20 fps as standard
             std::string export_name = "MemoryExport";
             std::string export_path = "/tmp/ltm";
+            std::string import_path = "/tmp/ltm";
+            std::string import_name = "MemoryExport";
         } p;
 
     protected: