Feature/location graph export

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

@@ -529,11 +529,11 @@ namespace armarx::navigation
 
         for (const auto& [memoryId, location] : locations)
         {
-            auto& j = js[memoryId.coreSegmentName];
+            auto& j = js[memoryId.providerSegmentName];
 
             if (j.count("locations") == 0)
             {
-                j["locations"] = nlohmann::json::array();
+                j["locations"] = {};
             }
 
             nlohmann::json jLoc;
@@ -554,7 +554,7 @@ namespace armarx::navigation
                 jLoc["relativeToObject"] = "null";
             }
 
-            j["locations"].push_back(jLoc);
+            j["locations"][memoryId.getEntityID().str()] = jLoc;
         }
 
         // save to disk
@@ -562,7 +562,11 @@ namespace armarx::navigation
         {
             const std::filesystem::path subDir = std::filesystem::path(providerId);
             const std::filesystem::path dir = baseDirectory / subDir;
-            std::filesystem::create_directories(dir);
+
+            if(not std::filesystem::exists(dir))
+            {
+                std::filesystem::create_directories(dir);
+            }
 
             const std::filesystem::path filename = dir / "locations.json";
             ARMARX_VERBOSE << "Saving file `" << filename << "`.";