transform reader: casting data to aron & plain cpp

source/RobotAPI/components/armem/client/TransformClient/TransformReaderClient.cpp

@@ -40,6 +40,7 @@
 // ArmarX
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 #include "ArmarXCore/core/logging/Logging.h"
+#include "RobotAPI/components/armem/client/TransformClient/aron_conversions.h"
 #include <ArmarXCore/core/time/CycleUtil.h>
 
 // this package
@@ -51,6 +52,8 @@
 #include <RobotAPI/libraries/armem/core/ProviderSegment.h>
 #include <RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h>
 #include <RobotAPI/libraries/core/FramedPose.h>
+#include <RobotAPI/components/armem/client/TransformClient/aron/Transform.aron.generated.h>
+
 
 namespace armarx
 {
@@ -215,26 +218,14 @@ namespace armarx
             }
 
             const auto item = entity.getLatestSnapshot().getInstance(0);
-            const auto dataNavigator = item.data();
-            // auto type  = dataNavigator->getDescriptor();
-
-            // armarx::aron::typenavigator::PoseNavigator;
-            // class PoseNavigator;
-
-            // switch(type)
-            // {
-            //     switch(aron::data::)
-            // }
-
-
-            // switch (type)
-            // {
-            //     case aron::type::Descriptor::eIVTCByteImage:
 
-            //     aron::Pose pose; // snapshot.getInstance().data()
+            aron::Transform aronTransform;
+            aronTransform.fromAron(item.data());
 
-            // TODO(fabian.reister): implement
-            return Eigen::Affine3f::Identity();
+            Transform transform;
+            fromAron(aronTransform, transform);
+            
+            return transform.transform;
 
         });