From 774b84761e9b6e4db8aad7403f5a99897b69ea7f Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 9 Jul 2021 10:43:58 +0200
Subject: [PATCH] update

---
 .../TrajectoryFollowingController.cpp          | 18 ++++++++++++++++--
 .../trajectory_control/WaypointController.cpp  | 17 +++++++++++++++--
 .../trajectory_control/aron_conversions.cpp    |  3 +++
 3 files changed, 34 insertions(+), 4 deletions(-)

diff --git a/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.cpp b/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.cpp
index eda53b12..caab69bd 100644
--- a/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.cpp
+++ b/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.cpp
@@ -14,6 +14,9 @@
 #include "Navigation/libraries/core/types.h"
 #include "Navigation/libraries/trajectory_control/TrajectoryController.h"
 #include "Navigation/libraries/trajectory_control/core.h"
+#include "Navigation/libraries/trajectory_control/aron_conversions.h"
+
+#include "Navigation/libraries/trajectory_control/aron/TrajectoryFollowingControllerParams.aron.generated.h"
 
 namespace armarx::nav::traj_ctrl
 {
@@ -26,13 +29,24 @@ namespace armarx::nav::traj_ctrl
 
     aron::datanavigator::DictNavigatorPtr TrajectoryFollowingControllerParams::toAron() const
     {
-        return nullptr; // TODO implement
+        arondto::TrajectoryFollowingControllerParams dto;
+
+        TrajectoryFollowingControllerParams bo;
+        aron_conv::toAron(dto, bo);
+
+        return dto.toAron();
     }
 
     TrajectoryFollowingControllerParams
     TrajectoryFollowingControllerParams::FromAron(const aron::datanavigator::DictNavigatorPtr& dict)
     {
-        return TrajectoryFollowingControllerParams(); // TODO implement
+        arondto::TrajectoryFollowingControllerParams dto;
+        dto.fromAron(dict);
+
+        TrajectoryFollowingControllerParams bo;
+        aron_conv::fromAron(dto, bo);
+
+        return bo;
     }
 
     TrajectoryFollowingController::TrajectoryFollowingController(const Params& params,
diff --git a/source/Navigation/libraries/trajectory_control/WaypointController.cpp b/source/Navigation/libraries/trajectory_control/WaypointController.cpp
index 2e328280..10eea287 100644
--- a/source/Navigation/libraries/trajectory_control/WaypointController.cpp
+++ b/source/Navigation/libraries/trajectory_control/WaypointController.cpp
@@ -1,7 +1,9 @@
 #include "WaypointController.h"
 
 #include "Navigation/libraries/trajectory_control/TrajectoryController.h"
+#include "Navigation/libraries/trajectory_control/aron_conversions.h"
 #include "Navigation/libraries/trajectory_control/core.h"
+#include "Navigation/libraries/trajectory_control/aron/WaypointControllerParams.aron.generated.h"
 
 namespace armarx::nav::traj_ctrl
 {
@@ -14,13 +16,24 @@ namespace armarx::nav::traj_ctrl
 
     aron::datanavigator::DictNavigatorPtr WaypointControllerParams::toAron() const
     {
-        return nullptr; // TODO implement
+        arondto::WaypointControllerParams dto;
+
+        WaypointControllerParams bo;
+        aron_conv::toAron(dto, bo);
+
+        return dto.toAron();
     }
 
     WaypointControllerParams
     WaypointControllerParams::FromAron(const aron::datanavigator::DictNavigatorPtr& dict)
     {
-        return WaypointControllerParams(); // TODO implement
+        arondto::WaypointControllerParams dto;
+        dto.fromAron(dict);
+
+        WaypointControllerParams bo;
+        aron_conv::fromAron(dto, bo);
+
+        return bo;
     }
 
     // WaypointController
diff --git a/source/Navigation/libraries/trajectory_control/aron_conversions.cpp b/source/Navigation/libraries/trajectory_control/aron_conversions.cpp
index 94884c33..604fcf94 100644
--- a/source/Navigation/libraries/trajectory_control/aron_conversions.cpp
+++ b/source/Navigation/libraries/trajectory_control/aron_conversions.cpp
@@ -5,6 +5,9 @@
 #include "Navigation/libraries/trajectory_control/TrajectoryController.h"
 #include "Navigation/libraries/trajectory_control/TrajectoryFollowingController.h"
 #include "Navigation/libraries/trajectory_control/WaypointController.h"
+#include "Navigation/libraries/trajectory_control/aron/TrajectoryControllerParams.aron.generated.h"
+#include "Navigation/libraries/trajectory_control/aron/TrajectoryFollowingControllerParams.aron.generated.h"
+#include "Navigation/libraries/trajectory_control/aron/WaypointControllerParams.aron.generated.h"
 
 namespace armarx::nav::traj_ctrl::aron_conv
 {
-- 
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