Refactor skills framework

Follow-up MRs:

• robot-skill-templates!48 (merged)
• armarx-simulation!66 (merged)
• sw/armarx/skills/control!37 (merged)
• sw/armarx/skills/kinesthetic-learning!2 (merged)
• sw/armarx/skills/localization-and-mapping!3 (merged)
• sw/armarx/skills/manipulation!33 (merged)
• sw/armarx-integration/robots/armar7/skills!8
• ... --> see comment

source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.cpp

@@ -3,30 +3,34 @@
 //#include <ArmarXCore/core/time/TimeUtil.h>
 //#include <ArmarXCore/observers/variant/DatafieldRef.h>
 
-#include <RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h>
 #include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
 #include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
+#include <RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h>
 
 #include "ObjectMemoryGroupStatechartContext.generated.h"
 
 namespace armarx::ObjectMemoryGroup
 {
     // DO NOT EDIT NEXT LINE
-    RequestObjects::SubClassRegistry RequestObjects::Registry(RequestObjects::GetName(), &RequestObjects::CreateInstance);
+    RequestObjects::SubClassRegistry RequestObjects::Registry(RequestObjects::GetName(),
+                                                              &RequestObjects::CreateInstance);
 
-    RequestObjects::RequestObjects(const XMLStateConstructorParams& stateData):
-        XMLStateTemplate<RequestObjects>(stateData), RequestObjectsGeneratedBase<RequestObjects>(stateData)
+    RequestObjects::RequestObjects(const XMLStateConstructorParams& stateData) :
+        XMLStateTemplate<RequestObjects>(stateData),
+        RequestObjectsGeneratedBase<RequestObjects>(stateData)
     {
     }
 
-    void RequestObjects::onEnter()
+    void
+    RequestObjects::onEnter()
     {
 
         // put your user code for the enter-point here
         // execution time should be short (<100ms)
     }
 
-    void RequestObjects::run()
+    void
+    RequestObjects::run()
     {
         if (not in.getEnable())
         {
@@ -39,7 +43,8 @@ namespace armarx::ObjectMemoryGroup
         const std::string provider = in.isProviderSet() ? in.getProvider() : "";
 
         const std::vector<std::string> objectIdsString = in.getObjectIds();
-        const armarx::Duration relativeTimeout = armarx::Duration::MilliSeconds(in.getRelativeTimeoutMilliseconds());
+        const armarx::Duration relativeTimeout =
+            armarx::Duration::MilliSeconds(in.getRelativeTimeoutMilliseconds());
 
         std::stringstream info;
         std::stringstream warn;
@@ -49,21 +54,22 @@ namespace armarx::ObjectMemoryGroup
         {
             try
             {
-                 armarx::ObjectID id = armarx::ObjectID::FromString(idString);
-                 objectIds.push_back(id);
-                 info << "Requesting object " << id << "\n";
+                armarx::ObjectID id = armarx::ObjectID::FromString(idString);
+                objectIds.push_back(id);
+                info << "Requesting object " << id << "\n";
             }
             catch (const armarx::LocalException& e)
             {
-                warn << "\nGiven object ID '" << idString << "' could not parsed as ObjectID: " << e.what();
+                warn << "\nGiven object ID '" << idString
+                     << "' could not parsed as ObjectID: " << e.what();
             }
         }
 
         auto context = getContext<ObjectMemoryGroupStatechartContext>();
         armarx::armem::client::MemoryNameSystem mns(getMemoryNameSystem(), context);
 
-        Reader reader{mns};
-        reader.connect();
+        Reader reader;
+        reader.connect(mns);
         objpose::ObjectPoseStorageInterfacePrx storage = reader.getObjectPoseStorage();
 
         armarx::objpose::observer::RequestObjectsInput input;
@@ -91,7 +97,8 @@ namespace armarx::ObjectMemoryGroup
         {
             if (result.result.success)
             {
-                info << "Requested object " << id << " via provider '" << result.providerName << "'.\n";
+                info << "Requested object " << id << " via provider '" << result.providerName
+                     << "'.\n";
             }
             else
             {
@@ -105,8 +112,9 @@ namespace armarx::ObjectMemoryGroup
         }
         if (not warn.str().empty())
         {
-            ARMARX_WARNING << "The following issues occurred whhen requesting objects for localization:"
-                           << warn.str();
+            ARMARX_WARNING
+                << "The following issues occurred whhen requesting objects for localization:"
+                << warn.str();
         }
 
         emitSuccess();
@@ -118,16 +126,17 @@ namespace armarx::ObjectMemoryGroup
     //    // execution time should be short (<100ms)
     //}
 
-    void RequestObjects::onExit()
+    void
+    RequestObjects::onExit()
     {
         // put your user code for the exit point here
         // execution time should be short (<100ms)
     }
 
-
     // DO NOT EDIT NEXT FUNCTION
-    XMLStateFactoryBasePtr RequestObjects::CreateInstance(XMLStateConstructorParams stateData)
+    XMLStateFactoryBasePtr
+    RequestObjects::CreateInstance(XMLStateConstructorParams stateData)
     {
         return XMLStateFactoryBasePtr(new RequestObjects(stateData));
     }
-}
+} // namespace armarx::ObjectMemoryGroup