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/LocationLoader.cpp

@@ -6,6 +6,8 @@
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 #include <ArmarXCore/core/logging/Logging.h>
 
+#include <RobotAPI/libraries/core/json_conversions.h>
+
 namespace armarx::priorknowledge::util
 {
     FramedLocationPtr
@@ -53,8 +55,18 @@ namespace armarx::priorknowledge::util
             pose,
             framedPose.at("pose").get<std::vector<std::vector<float>>>()); // load the 4x4 matrix
 
-        FramedLocationPtr loc(new FramedLocation(
-            LocationId(source, locationName), LocationType::FRAMED_LOCATION, frame, agent, pose));
+        std::optional<Names> names;
+        if (auto it = j.find("names"); it != j.end())
+        {
+            it->get_to(names.emplace());
+        }
+
+        FramedLocationPtr loc(new FramedLocation(LocationId(source, locationName),
+                                                 LocationType::FRAMED_LOCATION,
+                                                 frame,
+                                                 agent,
+                                                 pose,
+                                                 names));
         return loc;
     }
 
@@ -111,12 +123,19 @@ namespace armarx::priorknowledge::util
             extents,
             framedOrientedBox.at("extents").get<std::vector<float>>()); // load the 4x4 matrix
 
+        std::optional<Names> names;
+        if (auto it = j.find("names"); it != j.end())
+        {
+            it->get_to(names.emplace());
+        }
+
         FramedBoxedLocationPtr loc(new FramedBoxedLocation(LocationId(source, locationName),
                                                            LocationType::FRAMED_BOXED_LOCATION,
                                                            frame,
                                                            agent,
                                                            pose,
-                                                           extents));
+                                                           extents,
+                                                           names));
         return loc;
     }
 
@@ -133,7 +152,7 @@ namespace armarx::priorknowledge::util
         }
 
         for (const auto& [locationName, j] :
-             js["locations"].get<std::map<std::string, nlohmann::json>>())
+             js.at("locations").get<std::map<std::string, nlohmann::json>>())
         {
             if (j.find("framedPose") != j.end())
             {