Merge branch 'armem/dev' into armem/robot-state-memory

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp

@@ -115,7 +115,7 @@ namespace armarx::aron::cppserializer::serializer
     {
         CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
         block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
-        block_if_data->addLine("\t return false;");
+        block_if_data->addLineAsBlock("return false;");
         return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
     }
 }

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h

@@ -43,5 +43,19 @@ namespace armarx::aron::cppserializer::detail
         NDArraySerializerBase(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, const typename TypenavigatorT::PointerType& t) :
             SerializerBase<TypenavigatorT, DerivedT>(cppName, aronDataTypename, aronTypeTypename, t)
         {}
+
+        virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override
+        {
+            CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+            block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+            return this->ResolveMaybeResetHardBlock(accessor, block_if_data, this->typenavigator);
+        }
+
+        virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override
+        {
+            CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+            block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
+            return this->ResolveMaybeResetSoftBlock(accessor, block_if_data, this->typenavigator);
+        }
     };
 }

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h

@@ -79,7 +79,7 @@ namespace armarx::aron::cppserializer::detail
         {
             CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
             block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
-            block_if_data->addLine("\t return false;");
+            block_if_data->addLineAsBlock("return false;");
             return this->ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, this->typenavigator);
         }
     };

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp

@@ -83,7 +83,7 @@ namespace armarx::aron::cppserializer::serializer
     {
         CppBlockPtr b = CppBlockPtr(new CppBlock());
         b->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
-        b->addLine("\t return false;");
+        b->addLineAsBlock("return false;");
         return b;
     }
 }

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp

@@ -47,20 +47,6 @@ namespace armarx::aron::cppserializer::serializer
         ARMARX_CHECK_NOT_NULL(typenavigator);
     }
 
-    CppBlockPtr EigenMatrixSerializer::getResetHardBlock(const std::string& accessor) const
-    {
-        CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
-        block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
-        return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
-    }
-
-    CppBlockPtr EigenMatrixSerializer::getResetSoftBlock(const std::string& accessor) const
-    {
-        CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
-        block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
-        return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
-    }
-
     CppBlockPtr EigenMatrixSerializer::getWriteTypeBlock(const std::string& accessor) const
     {
         CppBlockPtr b = CppBlockPtr(new CppBlock());
@@ -87,7 +73,7 @@ namespace armarx::aron::cppserializer::serializer
     {
         CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
         block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + ResolveMaybeAccessor(otherInstanceAccessor, typenavigator) + ")))");
-        block_if_data->addLine("\t return false;");
+        block_if_data->addLineAsBlock("return false;");
         return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
     }
 }

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h

@@ -46,8 +46,6 @@ namespace armarx::aron::cppserializer::serializer
         EigenMatrixSerializer(const typenavigator::EigenMatrixNavigatorPtr&);
 
         // virtual implementations
-        virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
-        virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
         virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
         virtual CppBlockPtr getWriteBlock(const std::string&) const override;
         virtual CppBlockPtr getReadBlock(const std::string&) const override;

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp

@@ -42,20 +42,6 @@ namespace armarx::aron::cppserializer::serializer
         ARMARX_CHECK_NOT_NULL(typenavigator);
     }
 
-    CppBlockPtr EigenQuaternionSerializer::getResetHardBlock(const std::string& accessor) const
-    {
-        CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
-        block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
-        return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
-    }
-
-    CppBlockPtr EigenQuaternionSerializer::getResetSoftBlock(const std::string& accessor) const
-    {
-        CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
-        block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
-        return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
-    }
-
     CppBlockPtr EigenQuaternionSerializer::getWriteTypeBlock(const std::string& accessor) const
     {
         CppBlockPtr b = CppBlockPtr(new CppBlock());
@@ -82,7 +68,7 @@ namespace armarx::aron::cppserializer::serializer
     {
         CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
         block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
-        block_if_data->addLine("\t return false;");
+        block_if_data->addLineAsBlock("return false;");
         return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
     }
 }

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h

@@ -40,7 +40,7 @@ namespace armarx::aron::cppserializer::serializer
     typedef std::shared_ptr<EigenQuaternionSerializer> EigenQuaternionSerializerPtr;
 
     class EigenQuaternionSerializer :
-            virtual public detail::NDArraySerializerBase<typenavigator::EigenQuaternionNavigator, EigenQuaternionSerializer>
+        virtual public detail::NDArraySerializerBase<typenavigator::EigenQuaternionNavigator, EigenQuaternionSerializer>
     {
     public:
         using PointerType = EigenQuaternionSerializerPtr;
@@ -50,8 +50,6 @@ namespace armarx::aron::cppserializer::serializer
         EigenQuaternionSerializer(const typenavigator::EigenQuaternionNavigatorPtr&);
 
         // virtual implementations
-        virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
-        virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
         virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
         virtual CppBlockPtr getWriteBlock(const std::string&) const override;
         virtual CppBlockPtr getReadBlock(const std::string&) const override;

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp

@@ -47,13 +47,6 @@ namespace armarx::aron::cppserializer::serializer
         }
     }
 
-    CppBlockPtr IVTCByteImageSerializer::getResetHardBlock(const std::string& accessor) const
-    {
-        CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
-        block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
-        return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
-    }
-
     CppBlockPtr IVTCByteImageSerializer::getResetSoftBlock(const std::string& accessor) const
     {
         CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
@@ -84,16 +77,16 @@ namespace armarx::aron::cppserializer::serializer
 
         block_if_data->addLine(accessor + nextEl() + "Set(" + read_start_result_accessor + ".dims[0], " + read_start_result_accessor + ".dims[1], static_cast<CByteImage::ImageType>(std::stoi(" + read_start_result_accessor + ".type)));");
         block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "pixels)); // of " + accessor);
-        return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+        return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator, true);
     }
 
     CppBlockPtr IVTCByteImageSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
     {
         CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
         block_if_data->addLine("if (not (" + accessor + nextEl() + "IsCompatible(" + toPointerAccessor(otherInstanceAccessor) + ")))");
-        block_if_data->addLine("\t return false;");
+        block_if_data->addLineAsBlock("return false;");
         block_if_data->addLine("if (not (memcmp(" + accessor + nextEl() + "pixels, " + otherInstanceAccessor + nextEl() + "pixels, " + accessor + nextEl() + "width * " + accessor + nextEl() + "height * " + accessor + nextEl() + "bytesPerPixel) == 0))");
-        block_if_data->addLine("\t return false;");
+        block_if_data->addLineAsBlock("return false;");
         return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
     }
 }

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h

@@ -40,7 +40,7 @@ namespace armarx::aron::cppserializer::serializer
     typedef std::shared_ptr<IVTCByteImageSerializer> AronIVTCByteImageTypeCppSerializerPtr;
 
     class IVTCByteImageSerializer :
-            virtual public detail::NDArraySerializerBase<typenavigator::IVTCByteImageNavigator, IVTCByteImageSerializer>
+        virtual public detail::NDArraySerializerBase<typenavigator::IVTCByteImageNavigator, IVTCByteImageSerializer>
     {
     public:
         using PointerType = AronIVTCByteImageTypeCppSerializerPtr;
@@ -50,7 +50,6 @@ namespace armarx::aron::cppserializer::serializer
         IVTCByteImageSerializer(const typenavigator::IVTCByteImageNavigatorPtr&);
 
         // virtual implementations
-        virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
         virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
         virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
         virtual CppBlockPtr getWriteBlock(const std::string&) const override;

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp

@@ -35,20 +35,6 @@ namespace armarx::aron::cppserializer::serializer
         ARMARX_CHECK_NOT_NULL(typenavigator);
     }
 
-    CppBlockPtr NDArraySerializer::getResetHardBlock(const std::string& accessor) const
-    {
-        CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
-        block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
-        return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
-    }
-
-    CppBlockPtr NDArraySerializer::getResetSoftBlock(const std::string& accessor) const
-    {
-        CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
-        block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
-        return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
-    }
-
     CppBlockPtr NDArraySerializer::getWriteTypeBlock(const std::string&) const
     {
         CppBlockPtr b = CppBlockPtr(new CppBlock());

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h

@@ -39,7 +39,7 @@ namespace armarx::aron::cppserializer::serializer
     typedef std::shared_ptr<NDArraySerializer> AronNDArrayTypeCppSerializerPtr;
 
     class NDArraySerializer :
-            virtual public detail::NDArraySerializerBase<typenavigator::NDArrayNavigator, NDArraySerializer>
+        virtual public detail::NDArraySerializerBase<typenavigator::NDArrayNavigator, NDArraySerializer>
     {
     public:
         using PointerType = AronNDArrayTypeCppSerializerPtr;
@@ -49,8 +49,6 @@ namespace armarx::aron::cppserializer::serializer
         NDArraySerializer(const typenavigator::NDArrayNavigatorPtr&);
 
         // virtual implementations
-        virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
-        virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
         virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
         virtual CppBlockPtr getWriteBlock(const std::string&) const override;
         virtual CppBlockPtr getReadBlock(const std::string&) const override;

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp

@@ -63,13 +63,6 @@ namespace armarx::aron::cppserializer::serializer
         return {b, accessor_dimensions};
     }
 
-    CppBlockPtr OpenCVMatSerializer::getResetHardBlock(const std::string& accessor) const
-    {
-        CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
-        block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
-        return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
-    }
-
     CppBlockPtr OpenCVMatSerializer::getResetSoftBlock(const std::string& accessor) const
     {
         CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
@@ -117,14 +110,14 @@ namespace armarx::aron::cppserializer::serializer
         b2->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data)); // of " + accessor);
         block_if_data->addBlock(b2);
 
-        return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+        return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator, true);
     }
 
     CppBlockPtr OpenCVMatSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
     {
         CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
         block_if_data->addLine("if (cv::countNonZero(" + accessor + " != " + otherInstanceAccessor + ") != 0)");
-        block_if_data->addLine("\t return false;");
+        block_if_data->addLineAsBlock("return false;");
         return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
     }
 }

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h

@@ -50,7 +50,6 @@ namespace armarx::aron::cppserializer::serializer
         OpenCVMatSerializer(const typenavigator::OpenCVMatNavigatorPtr& n);
 
         // virtual implementations
-        virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
         virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
         virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
         virtual CppBlockPtr getWriteBlock(const std::string&) const override;

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp

@@ -35,20 +35,6 @@ namespace armarx::aron::cppserializer::serializer
         ARMARX_CHECK_NOT_NULL(typenavigator);
     }
 
-    CppBlockPtr OrientationSerializer::getResetHardBlock(const std::string& accessor) const
-    {
-        CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
-        block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
-        return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
-    }
-
-    CppBlockPtr OrientationSerializer::getResetSoftBlock(const std::string& accessor) const
-    {
-        CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
-        block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
-        return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
-    }
-
     CppBlockPtr OrientationSerializer::getWriteTypeBlock(const std::string& accessor) const
     {
         CppBlockPtr b = CppBlockPtr(new CppBlock());
@@ -75,7 +61,7 @@ namespace armarx::aron::cppserializer::serializer
     {
         CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
         block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
-        block_if_data->addLine("\t return false;");
+        block_if_data->addLineAsBlock("return false;");
         return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
     }
 }

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h

@@ -39,7 +39,7 @@ namespace armarx::aron::cppserializer::serializer
     typedef std::shared_ptr<OrientationSerializer> AronOrientationTypeCppSerializerPtr;
 
     class OrientationSerializer :
-            virtual public detail::NDArraySerializerBase<typenavigator::OrientationNavigator, OrientationSerializer>
+        virtual public detail::NDArraySerializerBase<typenavigator::OrientationNavigator, OrientationSerializer>
     {
     public:
         using PointerType = AronOrientationTypeCppSerializerPtr;
@@ -49,8 +49,6 @@ namespace armarx::aron::cppserializer::serializer
         OrientationSerializer(const typenavigator::OrientationNavigatorPtr&);
 
         // virtual implementations
-        virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
-        virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
         virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
         virtual CppBlockPtr getWriteBlock(const std::string&) const override;
         virtual CppBlockPtr getReadBlock(const std::string&) const override;

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp

@@ -48,13 +48,6 @@ namespace armarx::aron::cppserializer::serializer
         ARMARX_CHECK_NOT_NULL(typenavigator);
     }
 
-    CppBlockPtr PCLPointCloudSerializer::getResetHardBlock(const std::string& accessor) const
-    {
-        CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
-        block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
-        return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
-    }
-
     CppBlockPtr PCLPointCloudSerializer::getResetSoftBlock(const std::string& accessor) const
     {
         CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
@@ -85,16 +78,17 @@ namespace armarx::aron::cppserializer::serializer
 
         block_if_data->addLine(accessor + " = " + getCoreCppTypename() + "(" + read_start_result_accessor + ".dims[0], " + read_start_result_accessor + ".dims[1]);");
         block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "points.data())); // of " + accessor);
-        return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+        return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator, true);
     }
 
     CppBlockPtr PCLPointCloudSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
     {
         CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
         block_if_data->addLine("if (" + accessor + nextEl() + "width != " + otherInstanceAccessor + nextEl() + "width || " + accessor + nextEl() + "height != " + otherInstanceAccessor + nextEl() + "height)");
-        block_if_data->addLine("\t return false;");
-        //b->addLine("if (" + accessor + "->points != " + otherInstanceAccessor + "->points)");
-        //b->addLine("\t return false;");
+        block_if_data->addLineAsBlock("return false;");
+
+        //block_if_data->addLine("if (" + accessor + nextEl() + "points != " + otherInstanceAccessor + nextEl() + "points)");
+        //block_if_data->addLine("\t return false;");
         return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
     }
 }

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h

@@ -39,7 +39,7 @@ namespace armarx::aron::cppserializer::serializer
     typedef std::shared_ptr<PCLPointCloudSerializer> AronPCLPointCloudTypeCppSerializerPtr;
 
     class PCLPointCloudSerializer :
-            virtual public detail::NDArraySerializerBase<typenavigator::PCLPointCloudNavigator, PCLPointCloudSerializer>
+        virtual public detail::NDArraySerializerBase<typenavigator::PCLPointCloudNavigator, PCLPointCloudSerializer>
     {
     public:
         using PointerType = AronPCLPointCloudTypeCppSerializerPtr;
@@ -49,7 +49,6 @@ namespace armarx::aron::cppserializer::serializer
         PCLPointCloudSerializer(const typenavigator::PCLPointCloudNavigatorPtr&);
 
         // virtual implementations
-        virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
         virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
         virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
         virtual CppBlockPtr getWriteBlock(const std::string&) const override;

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp

@@ -35,20 +35,6 @@ namespace armarx::aron::cppserializer::serializer
         ARMARX_CHECK_NOT_NULL(typenavigator);
     }
 
-    CppBlockPtr PoseSerializer::getResetHardBlock(const std::string& accessor) const
-    {
-        CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
-        block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
-        return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
-    }
-
-    CppBlockPtr PoseSerializer::getResetSoftBlock(const std::string& accessor) const
-    {
-        CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
-        block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
-        return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
-    }
-
     CppBlockPtr PoseSerializer::getWriteTypeBlock(const std::string& accessor) const
     {
         CppBlockPtr b = CppBlockPtr(new CppBlock());
@@ -75,7 +61,7 @@ namespace armarx::aron::cppserializer::serializer
     {
         CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
         block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
-        block_if_data->addLine("\t return false;");
+        block_if_data->addLineAsBlock("return false;");
         return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
     }
 }

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h

@@ -39,7 +39,7 @@ namespace armarx::aron::cppserializer::serializer
     typedef std::shared_ptr<PoseSerializer> AronPoseTypeCppSerializerPtr;
 
     class PoseSerializer :
-            virtual public detail::NDArraySerializerBase<typenavigator::PoseNavigator, PoseSerializer>
+        virtual public detail::NDArraySerializerBase<typenavigator::PoseNavigator, PoseSerializer>
     {
     public:
         using PointerType = AronPoseTypeCppSerializerPtr;
@@ -49,8 +49,6 @@ namespace armarx::aron::cppserializer::serializer
         PoseSerializer(const typenavigator::PoseNavigatorPtr&);
 
         // virtual implementations
-        virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
-        virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
         virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
         virtual CppBlockPtr getWriteBlock(const std::string&) const override;
         virtual CppBlockPtr getReadBlock(const std::string&) const override;