Add RobotUnitDataStreamingReceiver::getAs interface

source/RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.h

@@ -23,6 +23,7 @@
 #pragma once
 
 #include <mutex>
+#include <type_traits>
 
 #include <ArmarXCore/core/ManagedIceObject.h>
 
@@ -79,6 +80,51 @@ namespace armarx
             // *INDENT-ON*
         }
 
+        template<class T>
+        static T getAs(const timestep_t& st, const entry_t& e)
+        {
+            using enum_t = RobotUnitDataStreaming::DataEntryType;
+            if constexpr(std::is_same_v<bool, T>)
+            {
+                ARMARX_CHECK_EQUAL(e.type, enum_t::NodeTypeBool);
+                return st.bools  .at(e.index);
+            }
+            else if constexpr(std::is_same_v<Ice::Byte, T>)
+            {
+                ARMARX_CHECK_EQUAL(e.type, enum_t::NodeTypeByte);
+                return st.bytes  .at(e.index);
+            }
+            else if constexpr(std::is_same_v<Ice::Short, T>)
+            {
+                ARMARX_CHECK_EQUAL(e.type, enum_t::NodeTypeShort);
+                return st.shorts .at(e.index);
+            }
+            else if constexpr(std::is_same_v<Ice::Int, T>)
+            {
+                ARMARX_CHECK_EQUAL(e.type, enum_t::NodeTypeInt);
+                return st.ints   .at(e.index);
+            }
+            else if constexpr(std::is_same_v<Ice::Long, T>)
+            {
+                ARMARX_CHECK_EQUAL(e.type, enum_t::NodeTypeLong);
+                return st.longs  .at(e.index);
+            }
+            else if constexpr(std::is_same_v<Ice::Float, T>)
+            {
+                ARMARX_CHECK_EQUAL(e.type, enum_t::NodeTypeFloat);
+                return st.floats .at(e.index);
+            }
+            else if constexpr(std::is_same_v<Ice::Double, T>)
+            {
+                ARMARX_CHECK_EQUAL(e.type, enum_t::NodeTypeDouble);
+                return st.doubles.at(e.index);
+            }
+            else
+            {
+                static_assert(!std::is_same_v<T, T>, "Type not supported!");
+            }
+        }
+
         static void visitEntries(auto&& f, const timestep_t& st, const auto& cont)
         {
             for (const entry_t& e : cont)