attachments segment: getAttachments

source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp

@@ -52,24 +52,28 @@ namespace armarx::armem::server::obj::attachments
         // this->visu = std::make_unique<Visu>(arviz, *this);
     }
 
-    std::vector<armarx::armem::attachments::ObjectAttachment> Segment::getAttachments(const armem::Time& timestamp) const
+    std::vector<armarx::armem::attachment::ObjectAttachment> Segment::getAttachments(const armem::Time& timestamp) const
     {
-        std::vector<armarx::armem::attachments::ObjectAttachment> attachments;
+        std::vector<armarx::armem::attachment::ObjectAttachment> attachments;
 
         for (const auto& [_, provSeg] : iceMemory.workingMemory->getCoreSegment(p.coreClassSegmentName))
         {
             for (const auto& [name, entity] :  provSeg.entities())
             {
                 const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
-                const auto attachment = tryCast<armarx::arondto::attachment::ObjectAttachment>(entityInstance);
+                const auto aronAttachment = tryCast<armarx::armem::arondto::attachment::ObjectAttachment>(entityInstance);
 
-                if (not attachment)
+                if (not aronAttachment)
                 {
                     ARMARX_WARNING << "Could not convert entity instance to 'ObjectAttachment'";
                     continue;
                 }
 
                 ARMARX_DEBUG << "Key is " << armem::MemoryID(entity.id());
+
+                armarx::armem::attachment::ObjectAttachment attachment;
+                fromAron(*aronAttachment, attachment);
+
                 attachments.push_back(attachment);
             }
         }