Fabian Tërnava · Fabian Tërnava · Fabian Tërnava
--- a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
+++ b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp

                if (std::filesystem::is_directory(graph))
                {
-                    // TODO:
+                    armem::Commit c;
+                    armem::MemoryID providerID = workingMemory().id();
+                    providerID.coreSegmentName = "Graph";
+                    providerID.providerSegmentName = providerName;
+
+                    for (const auto& graphdir : std::filesystem::directory_iterator(graph))
--- a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
+++ b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
+                    {
+                        const std::filesystem::path singleGraph = graphdir.path();
+                        if (std::filesystem::is_directory(singleGraph))
+                        {
+                            navigation::core::arondto::Graph g;
+
+                            for (const auto& subdir : std::filesystem::directory_iterator(singleGraph))
+                            {
+                                const std::filesystem::path vertice = subdir.path();
+                                if (std::filesystem::is_regular_file(vertice))
+                                {
+                                    std::ifstream ifs(vertice);
+                                    const std::string content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
+
+                                    // parse graph
+                                    nlohmann::json j = nlohmann::json::parse(content);
--- a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
+++ b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
+                                    auto split = simox::alg::split(location, "/");
+                                    ARMARX_CHECK_EQUAL(split.size(), 4);
+
+                                    armarx::navigation::core::arondto::Vertex v;
+                                    v.vertexID = id;
+                                    v.locationID.memoryName = split[0];
+                                    v.locationID.coreSegmentName = split[1];
+                                    v.locationID.providerSegmentName = split[2];
+                                    v.locationID.entityName = split[3];
+                                    v.locationID.timestamp = armem::Time::microSeconds(-1);
+                                    v.locationID.instanceIndex = 0;
+
+                                    g.vertices.push_back(v);
+
+                                    // load edges
+                                    std::vector<float> edges = j.at("outgoingEdges");
--- a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
+++ b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
+                                    // load edges
+                                    std::vector<float> edges = j.at("outgoingEdges");
+
+                                    for (const auto edge_id : edges)
+                                    {
+                                        armarx::navigation::core::arondto::Edge e;
+                                        e.sourceVertexID = id;
+                                        e.targetVertexID = edge_id;
+                                        g.edges.push_back(e);
+                                    }
+                                }
+                            }
+
+                            auto& up = c.add();
+                            up.confidence = 1.0;
+                            up.timeCreated = armem::Time::now();