Resolve "Add gui actions to Grasp Memory to visualize Grasps"

Closes #72 (closed)

source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp

@@ -3,7 +3,7 @@
 #include <SimoxUtility/color/cmaps.h>
 
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <ArmarXCore/core/time/CycleUtil.h>
+#include <ArmarXCore/core/time/Metronome.h>
 
 #include <RobotAPI/libraries/core/Pose.h>
 
@@ -76,7 +76,7 @@ namespace armarx
     {
         ARMARX_IMPORTANT << "Running example.";
 
-        CycleUtil c(1000);
+        Metronome m(Duration::MilliSeconds(1000));
         int i = 0;
 
 
@@ -86,13 +86,13 @@ namespace armarx
             grasping::GraspCandidate candidate = makeDummyGraspCandidate();
             candidate.groupNr = i; //non-necessary field, but used to commit different candidates
 
-            writer.commitGraspCandidate(candidate, armem::Time::now(), "candidateProvider");
+            writer.commitGraspCandidate(candidate, armem::Time::Now(), "candidateProvider");
 
             // initialize all necessary fields of a bimanual grasp candidate and use writer to commit it to memory
             grasping::BimanualGraspCandidate bimanualCandidate = makeDummyBimanualGraspCandidate();
             bimanualCandidate.groupNr = i; //non-necessary field, but used to commit different candidates
 
-            writer.commitBimanualGraspCandidate(bimanualCandidate, armem::Time::now(), "bimanualProvider");
+            writer.commitBimanualGraspCandidate(bimanualCandidate, armem::Time::Now(), "bimanualProvider");
 
 
             //test for writing Seqs, candidates from the same object appear as instances of the same snapshot
@@ -102,7 +102,7 @@ namespace armarx
             candidatesToWrite.push_back(new grasping::GraspCandidate(candidate));
 
 
-            writer.commitGraspCandidateSeq(candidatesToWrite, armem::Time::now(), "candidateProvider");
+            writer.commitGraspCandidateSeq(candidatesToWrite, armem::Time::Now(), "candidateProvider");
 
             // test reader and debug by logging the group number of the candidate
 
@@ -139,7 +139,7 @@ namespace armarx
                 ARMARX_INFO << "bimanual candidate with ID " << id << " has group number " <<  ca->groupNr ;
             }
 
-            c.waitForCycleDuration();
+            m.waitForNextTick();
         }
     }