location graph export draft

source/armarx/navigation/components/NavigationMemory/CMakeLists.txt

 armarx_add_component(navigation_memory
+    ICE_DEPENDENCIES
+        ArmarXCoreInterfaces
+        RobotAPIInterfaces
+    ICE_FILES
+        ComponentInterface.ice
     DEPENDENCIES
         # ArmarXCore
         ArmarXCore

source/armarx/navigation/components/NavigationMemory/ComponentInterface.ice

+/**
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* ArmarX is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @package    RobotAPI
+* @author     Rainer Kartmann
+* @copyright  2020 Humanoids Group, H2T, KIT
+* @license    http://www.gnu.org/licenses/gpl-2.0.txt
+*             GNU General Public License
+*/
+
+#pragma once
+
+#include <RobotAPI/interface/armem/server/MemoryInterface.ice>
+
+#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice>
+#include <ArmarXCore/interface/core/PackagePath.ice>
+// #include <ArmarXCore/interface/core/PackagePath.h>
+
+
+module armarx
+{
+    module navigation
+    {
+        module memory
+        {
+            interface NavigationMemoryInterface extends
+                    armarx::armem::server::MemoryInterface
+            {
+                bool storeLocationGraph(armarx::data::PackagePath packagePath); 
+            };
+
+        };
+    };
+};

source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp

@@ -457,5 +457,15 @@ namespace armarx::navigation
         }
     }
 
+    bool NavigationMemory::storeLocationGraph(const armarx::data::PackagePath& packagePath, const Ice::Current& current)
+    {
+        const auto& locationCoreSegment = workingMemory().getCoreSegment(navigation::location::coreSegmentID);
+                          workingMemory().getCoreSegment(navigation::graph::coreSegmentID)};
+
+
+        return true;
+    }
+
+
 
 } // namespace armarx::navigation

source/armarx/navigation/components/NavigationMemory/NavigationMemory.h

@@ -25,6 +25,7 @@
 #include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/services/tasks/TaskUtil.h>
 
+#include <ArmarXCore/interface/core/PackagePath.h>
 #include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
 
 #include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
@@ -34,6 +35,8 @@
 
 #include <mutex>
 
+#include <armarx/navigation/components/NavigationMemory/ComponentInterface.h>
+
 
 namespace armarx::navigation
 {
@@ -50,17 +53,20 @@ namespace armarx::navigation
      * Detailed description of class NavigationMemory.
      */
     class NavigationMemory :
-        virtual public armarx::Component
+        virtual public armarx::Component,
         // , virtual public armarx::DebugObserverComponentPluginUser
-        ,
         virtual public armarx::LightweightRemoteGuiComponentPluginUser,
         virtual public armarx::ArVizComponentPluginUser,
-        virtual public armarx::armem::server::ReadWritePluginUser
+        virtual public armarx::armem::server::ReadWritePluginUser,
+        virtual public memory::NavigationMemoryInterface
     {
     public:
         /// @see armarx::ManagedIceObject::getDefaultName()
         std::string getDefaultName() const override;
 
+        bool storeLocationGraph(const armarx::data::PackagePath& packagePath, const Ice::Current& current) override; 
+
+
 
     protected:
         /// @see PropertyUser::createPropertyDefinitions()