Draft: Make RobotStateMemory ready

Goal:

• Make stable (especially race conditions)
• Improve runtime
• Add profiling/monitoring
• Refactor code
• Add missing interfaces

source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp

 #include "Visu.h"
 
-#include <Eigen/src/Geometry/Transform.h>
 #include <algorithm>
+#include <exception>
+#include <string>
 
 #include <Eigen/Geometry>
 
@@ -17,8 +18,6 @@
 #include <RobotAPI/components/ArViz/Client/Elements.h>
 #include <RobotAPI/libraries/armem/core/Time.h>
 #include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
-#include <exception>
-#include <string>
 
 #include "../description/Segment.h"
 #include "../localization/Segment.h"
@@ -28,6 +27,13 @@
 namespace armarx::armem::server::robot_state
 {
 
+    Visu::Visu(const description::Segment& descriptionSegment, const proprioception::Segment& proprioceptionSegment, const localization::Segment& localizationSegment)
+        : descriptionSegment(descriptionSegment),
+          proprioceptionSegment(proprioceptionSegment),
+          localizationSegment(localizationSegment)
+    {}
+
+
     void Visu::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
     {
         defs->optional(