update

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,

source/Navigation/libraries/trajectory_control/WaypointController.cpp

 #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

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
 {