Resolve "Use armarx::Time as armem::Time instead of IceUtil::Time"

Closes #84 (closed)

source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp

@@ -87,7 +87,7 @@ namespace armarx::articulated_object
         articulatedObjectReader->connect();
 
         ARMARX_IMPORTANT << "Running example.";
-        start = armem::Time::now();
+        start = armem::Time::Now();
 
         task = new PeriodicTask<ArticulatedObjectLocalizerExample>(
             this, &ArticulatedObjectLocalizerExample::run,
@@ -108,7 +108,7 @@ namespace armarx::articulated_object
     {
         const std::string dishwasherName = "Kitchen/mobile-dishwasher";
 
-        const auto descriptions = articulatedObjectReader->queryDescriptions(IceUtil::Time::now());
+        const auto descriptions = articulatedObjectReader->queryDescriptions(armem::Time::Now());
 
         ARMARX_INFO << "Found " << descriptions.size() << " articulated object descriptions";
 
@@ -155,20 +155,22 @@ namespace armarx::articulated_object
 
         ARMARX_DEBUG << "Reporting articulated objects";
 
-        const IceUtil::Time now = TimeUtil::GetTime();
-        const float t           = float((now - start).toSecondsDouble());
+        const armem::Time now = armem::Time::Now();
+        const float t = float((now - start).toSecondsDouble());
 
         // move joints at certain frequency
         const float k = (1 + std::sin(t / (M_2_PIf32))) / 2; // in [0,1]
 
-        const std::map<std::string, float> jointValues{{"dishwasher_door_joint", M_PIf32 / 2 * k},
-            {"drawer_joint", 350 * k}};
+        const std::map<std::string, float> jointValues
+        {
+            {"dishwasher_door_joint", M_PIf32 / 2 * k},
+            {"drawer_joint", 350 * k}
+        };
 
         dishwasher->setGlobalPose(simox::math::pose(Eigen::Vector3f(1000, 0, 0)));
         dishwasher->setJointValues(jointValues);
 
-
-        articulatedObjectWriter->storeArticulatedObject(dishwasher, IceUtil::Time::now());
+        articulatedObjectWriter->storeArticulatedObject(dishwasher, now);
     }
 
 } // namespace armarx::articulated_object