Add Names to Locations

Related to

• https://git.h2t.iar.kit.edu/sw/armarx/prior-knowledge-data/-/merge_requests/35
• sw/armarx/skills/navigation!99 (merged)

source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/datatypes/Location.h

 #pragma once
 
 #include <memory>
+#include <optional>
 #include <string>
 
 #include <SimoxUtility/shapes/OrientedBox.h>
 
 #include <RobotAPI/libraries/core/FramedPose.h>
+#include <RobotAPI/libraries/core/Names.h>
 
 namespace armarx::priorknowledge::util
 {
@@ -31,8 +33,12 @@ namespace armarx::priorknowledge::util
     {
         LocationId id;
         LocationType type;
+        std::optional<Names> names;
 
-        Location(const LocationId& i, const LocationType t) : id(i), type(t)
+        Location(const LocationId& i,
+                 const LocationType t,
+                 const std::optional<Names>& names = std::nullopt) :
+            id(i), type(t), names(names)
         {
         }
 
@@ -45,12 +51,13 @@ namespace armarx::priorknowledge::util
         std::string agent;
         Eigen::Matrix4f pose;
 
-        FramedLocation(const LocationId& i,
-                       const LocationType t,
-                       const std::string& f,
-                       const std::string& a,
-                       const Eigen::Matrix4f& p) :
-            Location(i, t), frame(f), agent(a), pose(p)
+        FramedLocation(const LocationId& id,
+                       const LocationType type,
+                       const std::string& frame,
+                       const std::string& agent,
+                       const Eigen::Matrix4f& pose,
+                       const std::optional<Names>& names = std::nullopt) :
+            Location(id, type, names), frame(frame), agent(agent), pose(pose)
         {
         }
 
@@ -63,13 +70,14 @@ namespace armarx::priorknowledge::util
     {
         Eigen::Vector3f extents;
 
-        FramedBoxedLocation(const LocationId& i,
-                            const LocationType t,
-                            const std::string& f,
-                            const std::string& a,
-                            const Eigen::Matrix4f& p,
-                            const Eigen::Vector3f& e) :
-            FramedLocation(i, t, f, a, p), extents(e)
+        FramedBoxedLocation(const LocationId& id,
+                            const LocationType type,
+                            const std::string& frame,
+                            const std::string& agent,
+                            const Eigen::Matrix4f& pose,
+                            const Eigen::Vector3f& extents,
+                            const std::optional<Names>& names = std::nullopt) :
+            FramedLocation(id, type, frame, agent, pose, names), extents(extents)
         {
         }