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/components/skills/SkillProviderExample/SkillProviderExample.cpp

@@ -9,7 +9,8 @@
 
 namespace armarx::skills::provider
 {
-    HelloWorldSkill::HelloWorldSkill() : Skill(GetSkillDescription())
+    HelloWorldSkill::HelloWorldSkill() :
+        SimpleSpecializedSkill<skills::Example::HelloWorldAcceptedType>(GetSkillDescription())
     {
     }
 
@@ -21,7 +22,7 @@ namespace armarx::skills::provider
         root_profile_params.some_int = 42;
         root_profile_params.some_text = "YOLO";
         root_profile_params.some_list_of_matrices.push_back(Eigen::Matrix3f::Zero());
-        //default_params.some_matrix = Eigen::Matrix3f::Zero();
+        root_profile_params.some_matrix = Eigen::Matrix3f::Zero();
 
         return SkillDescription{{"HelloWorld"},
                                 "This skill logs a message on ARMARX_IMPORTANT",
@@ -31,12 +32,12 @@ namespace armarx::skills::provider
     }
 
     Skill::MainResult
-    HelloWorldSkill::main()
+    HelloWorldSkill::main(const SpecializedMainInput& in)
     {
         ARMARX_IMPORTANT << "Hi, from the Hello World Skill.\n"
                          << "I received the following data: \n"
                          << aron::data::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(
-                                parameters)
+                                in.parameters.toAron())
                                 .dump(2)
                          << "\n"
                          << "Type fulfilled? "
@@ -47,7 +48,7 @@ namespace armarx::skills::provider
         return {TerminatedSkillStatus::Succeeded, nullptr};
     }
 
-    IncompleteSkill::IncompleteSkill() : Skill(GetSkillDescription())
+    IncompleteSkill::IncompleteSkill() : SimpleSkill(GetSkillDescription())
     {
     }
 
@@ -86,14 +87,14 @@ namespace armarx::skills::provider
     }
 
     Skill::MainResult
-    IncompleteSkill::main()
+    IncompleteSkill::main(const MainInput& in)
     {
         auto s = HelloWorldSkill();
-        s.setParameters(this->getParameters());
+        s.setParameters(in.parameters);
         return s.mainOfSkill();
     }
 
-    ChainingSkill::ChainingSkill() : Skill(GetSkillDescription())
+    ChainingSkill::ChainingSkill() : SimpleSkill(GetSkillDescription())
     {
     }
 
@@ -108,7 +109,7 @@ namespace armarx::skills::provider
     }
 
     Skill::MainResult
-    ChainingSkill::main()
+    ChainingSkill::main(const MainInput& in)
     {
         armarx::skills::Example::HelloWorldAcceptedType exec1;
         armarx::skills::Example::HelloWorldAcceptedType exec2;
@@ -152,7 +153,7 @@ namespace armarx::skills::provider
         return {ActiveOrTerminatedSkillStatus::Running, nullptr};
     }
 
-    CallbackSkill::CallbackSkill() : Skill(GetSkillDescription())
+    CallbackSkill::CallbackSkill() : SimpleSkill(GetSkillDescription())
     {
     }
 
@@ -167,21 +168,21 @@ namespace armarx::skills::provider
     }
 
     Skill::MainResult
-    CallbackSkill::main()
+    CallbackSkill::main(const MainInput& in)
     {
         ARMARX_IMPORTANT << "Logging three updates via the callback";
         auto up1 = std::make_shared<aron::data::Dict>();
         up1->addElement("updateInfo", std::make_shared<aron::data::String>("Update 1"));
 
-        this->callback(skills::SkillStatus::Running, up1);
+        in.callback(skills::SkillStatus::Running, up1);
 
         auto up2 = std::make_shared<aron::data::Dict>();
         up2->addElement("updateInfo", std::make_shared<aron::data::String>("Update 2"));
-        this->callback(skills::SkillStatus::Running, up2);
+        in.callback(skills::SkillStatus::Running, up2);
 
         auto up3 = std::make_shared<aron::data::Dict>();
         up3->addElement("updateInfo", std::make_shared<aron::data::String>("Update 3"));
-        this->callback(skills::SkillStatus::Running, up3);
+        in.callback(skills::SkillStatus::Running, up3);
 
         return {TerminatedSkillStatus::Succeeded, nullptr};
     }