diff --git a/source/RobotAPI/libraries/aron/common/CMakeLists.txt b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
index ea66ba9db549c0f48357b706dfa59f49ee1e8498..8c844b040c17cc362b51f8706f5211cbeac2be21 100644
--- a/source/RobotAPI/libraries/aron/common/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
@@ -37,6 +37,8 @@ armarx_enable_aron_file_generation_for_target(
aron/PackagePath.xml
aron/AxisAlignedBoundingBox.xml
aron/OrientedBox.xml
+ aron/time.xml
+ aron/framed.xml
)
add_library(aron::common ALIAS aroncommon)
diff --git a/source/RobotAPI/libraries/aron/common/aron/FramedPose.xml b/source/RobotAPI/libraries/aron/common/aron/FramedPose.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ec5aa0c961a11530ad1d6a08372fe2c42cbf10e8
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron/FramedPose.xml
@@ -0,0 +1,53 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+ <GenerateTypes>
+
+ <Object name="armarx::arondto::FrameHeader">
+ <ObjectChild key='frame'>
+ <string />
+ </ObjectChild>
+ <ObjectChild key='agent'>
+ <string />
+ </ObjectChild>
+ </Object>
+
+ <Object name="armarx::arondto::FramedPosition">
+ <ObjectChild key='header'>
+ <armarx::arondto::FrameHeader />
+ </ObjectChild>
+ <ObjectChild key='position'>
+ <Position />
+ </ObjectChild>
+ </Object>
+
+ <Object name="armarx::arondto::FramedDirection">
+ <ObjectChild key='header'>
+ <armarx::arondto::FrameHeader />
+ </ObjectChild>
+ <ObjectChild key='direction'>
+ <Position />
+ </ObjectChild>
+ </Object>
+
+ <Object name="armarx::arondto::FramedOrientation">
+ <ObjectChild key='header'>
+ <armarx::arondto::FrameHeader />
+ </ObjectChild>
+ <ObjectChild key='orientation'>
+ <Orientation />
+ </ObjectChild>
+ </Object>
+
+ <Object name="armarx::arondto::FramedPose">
+ <ObjectChild key='header'>
+ <armarx::arondto::FrameHeader />
+ </ObjectChild>
+ <ObjectChild key='pose'>
+ <Pose />
+ </ObjectChild>
+ </Object>
+
+ </GenerateTypes>
+
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/common/aron/framed.xml b/source/RobotAPI/libraries/aron/common/aron/framed.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2e2e6d45f95defa21e39670d5957dba539d63972
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron/framed.xml
@@ -0,0 +1,48 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+ <CodeIncludes>
+ <Include include="<Eigen/Geometry>" />
+ </CodeIncludes>
+
+ <GenerateTypes>
+
+ <Object name="armarx::arondto::FrameID">
+ <ObjectChild key='frame'>
+ <string />
+ </ObjectChild>
+ <ObjectChild key='agent'>
+ <string />
+ </ObjectChild>
+ </Object>
+
+ <Object name="armarx::arondto::FramedPosition">
+ <ObjectChild key='header'>
+ <armarx::arondto::FrameID />
+ </ObjectChild>
+ <ObjectChild key='position'>
+ <Position />
+ </ObjectChild>
+ </Object>
+
+ <Object name="armarx::arondto::FramedOrientation">
+ <ObjectChild key='header'>
+ <armarx::arondto::FrameID />
+ </ObjectChild>
+ <ObjectChild key='orientation'>
+ <Orientation />
+ </ObjectChild>
+ </Object>
+
+ <Object name="armarx::arondto::FramedPose">
+ <ObjectChild key='header'>
+ <armarx::arondto::FrameID />
+ </ObjectChild>
+ <ObjectChild key='pose'>
+ <Pose />
+ </ObjectChild>
+ </Object>
+
+ </GenerateTypes>
+
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/common/aron/time.xml b/source/RobotAPI/libraries/aron/common/aron/time.xml
new file mode 100644
index 0000000000000000000000000000000000000000..390e677cda4a528839abc613b1d147511511e9e9
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron/time.xml
@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+ <GenerateTypes>
+
+ <IntEnum name="armarx::arondto::ClockType">
+ <EnumValue key="Realtime" value="0" />
+ <EnumValue key="Monotonic" value="1" />
+ <EnumValue key="Virtual" value="2" />
+ <EnumValue key="Unknown" value="3" />
+ </IntEnum>
+
+ <Object name="armarx::arondto::Duration">
+ <ObjectChild key='microSeconds'>
+ <long />
+ </ObjectChild>
+ </Object>
+
+ <Object name="armarx::arondto::Frequency">
+ <ObjectChild key='cycleDuration'>
+ <armarx::arondto::Duration />
+ </ObjectChild>
+ </Object>
+
+ <Object name="armarx::arondto::DateTime">
+ <ObjectChild key='timeSinceEpoch'>
+ <armarx::arondto::Duration />
+ </ObjectChild>
+ <ObjectChild key='clockType'>
+ <armarx::arondto::ClockType />
+ </ObjectChild>
+ <ObjectChild key='hostname'>
+ <string />
+ </ObjectChild>
+ </Object>
+
+ </GenerateTypes>
+
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
index d408f45ef12fe9ac8624469e6a25326e96498295..13535b2449250b9c3991accdee2d9289d16fbfaf 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
@@ -31,4 +31,86 @@ namespace armarx
dto = bo.toMicroSeconds();
}
+ void fromAron(const arondto::ClockType& dto, ClockType& bo)
+ {
+ switch (dto.value)
+ {
+ case arondto::ClockType::Realtime:
+ bo = ClockType::Realtime;
+ break;
+ case arondto::ClockType::Monotonic:
+ bo = ClockType::Monotonic;
+ break;
+ case arondto::ClockType::Virtual:
+ bo = ClockType::Virtual;
+ break;
+ case arondto::ClockType::Unknown:
+ bo = ClockType::Unknown;
+ break;
+ }
+ }
+
+ void toAron(arondto::ClockType& dto, const ClockType& bo)
+ {
+ switch (bo)
+ {
+ case ClockType::Realtime:
+ dto = arondto::ClockType::Realtime;
+ break;
+ case ClockType::Monotonic:
+ dto = arondto::ClockType::Monotonic;
+ break;
+ case ClockType::Virtual:
+ dto = arondto::ClockType::Virtual;
+ break;
+ case ClockType::Unknown:
+ dto = arondto::ClockType::Unknown;
+ break;
+ }
+ }
+
+ void fromAron(const arondto::Duration& dto, Duration& bo)
+ {
+ bo = Duration::MicroSeconds(dto.microSeconds);
+ }
+
+ void toAron(arondto::Duration& dto, const Duration& bo)
+ {
+ dto.microSeconds = bo.toMicroSeconds();
+ }
+
+ void fromAron(const arondto::Frequency& dto, Frequency& bo)
+ {
+ Duration cycleDuration;
+ fromAron(dto.cycleDuration, cycleDuration);
+ bo = Frequency(cycleDuration);
+ }
+
+ void toAron(arondto::Frequency& dto, const Frequency& bo)
+ {
+ arondto::Duration cycleDuration;
+ toAron(cycleDuration, bo.toCycleDuration());
+ dto.cycleDuration = cycleDuration;
+ }
+
+ void fromAron(const arondto::DateTime& dto, DateTime& bo)
+ {
+ Duration timeSinceEpoch;
+ fromAron(dto.timeSinceEpoch, timeSinceEpoch);
+ ClockType clockType;
+ fromAron(dto.clockType, clockType);
+ bo = DateTime(timeSinceEpoch, clockType, dto.hostname);
+ }
+
+ void toAron(arondto::DateTime& dto, const DateTime& bo)
+ {
+ arondto::Duration timeSinceEpoch;
+ toAron(timeSinceEpoch, bo.toDurationSinceEpoch());
+ dto.timeSinceEpoch = timeSinceEpoch;
+ arondto::ClockType clockType;
+ toAron(clockType, bo.clockType());
+ dto.clockType = clockType;
+ dto.hostname = bo.hostname();
+ }
+
} // namespace armarx
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
index 48c24690503cec91a17da37909a53c3228984e26..3f66752a865a0cfe2a0cb7e790e232f087751e2b 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
@@ -1,17 +1,33 @@
#pragma once
#include <ArmarXCore/core/PackagePath.h>
+#include <ArmarXCore/core/time_minimal.h>
#include <IceUtil/Time.h>
#include <RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>
+#include <RobotAPI/libraries/aron/common/aron/time.aron.generated.h>
+#include <RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>
namespace armarx
{
+
void fromAron(const arondto::PackagePath& dto, PackagePath& bo);
void toAron(arondto::PackagePath& dto, const PackagePath& bo);
void fromAron(const long& dto, IceUtil::Time& bo);
void toAron(long& dto, const IceUtil::Time& bo);
+ void fromAron(const arondto::ClockType& dto, ClockType& bo);
+ void toAron(arondto::ClockType& dto, const ClockType& bo);
+
+ void fromAron(const arondto::Duration& dto, Duration& bo);
+ void toAron(arondto::Duration& dto, const Duration& bo);
+
+ void fromAron(const arondto::Frequency& dto, Frequency& bo);
+ void toAron(arondto::Frequency& dto, const Frequency& bo);
+
+ void fromAron(const arondto::DateTime& dto, DateTime& bo);
+ void toAron(arondto::DateTime& dto, const DateTime& bo);
+
} // namespace armarx