Use armarx::ObjectID in ObjectPose

source/RobotAPI/components/ObjectPoseObserver/ObjectPose.cpp

@@ -32,7 +32,7 @@ namespace armarx::objpose
     {
         providerName = ice.providerName;
         objectType = ice.objectType;
-        objectID = ice.objectID;
+        objectID = { ice.objectID.dataset, ice.objectID.name };
 
         objectPoseRobot = toEigen(ice.objectPoseRobot);
         objectPoseGlobal = toEigen(ice.objectPoseGlobal);
@@ -59,7 +59,7 @@ namespace armarx::objpose
     {
         ice.providerName = providerName;
         ice.objectType = objectType;
-        ice.objectID = objectID;
+        ice.objectID = { objectID.dataset(), objectID.name() };
 
         ice.objectPoseRobot = new Pose(objectPoseRobot);
         ice.objectPoseGlobal = new Pose(objectPoseGlobal);
@@ -72,7 +72,7 @@ namespace armarx::objpose
         ice.confidence = confidence;
         ice.timestampMicroSeconds = timestamp.toMicroSeconds();
 
-        ice.localOOBB = localOOBB;
+        objpose::toIce(ice.localOOBB, localOOBB);
     }
 
     void ObjectPose::fromProvidedPose(const data::ProvidedObjectPose& provided, VirtualRobot::RobotPtr robot)
@@ -80,7 +80,7 @@ namespace armarx::objpose
         providerName = provided.providerName;
         objectType = provided.objectType;
 
-        objectID = provided.objectID;
+        objectID = { provided.objectID.dataset, provided.objectID.name };
 
         objectPoseOriginal = toEigen(provided.objectPose);
         objectPoseOriginalFrame = provided.objectPoseFrame;

source/RobotAPI/components/ObjectPoseObserver/ObjectPose.h

@@ -7,6 +7,7 @@
 #include <IceUtil/Time.h>
 
 #include <RobotAPI/interface/objectpose/types.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
 
 
 namespace armarx::objpose
@@ -34,7 +35,7 @@ namespace armarx::objpose
         ObjectTypeEnum objectType = AnyObject;
 
         /// The object ID, i.e. dataset and name.
-        ObjectID objectID;
+        armarx::ObjectID objectID;
 
         Eigen::Matrix4f objectPoseRobot;
         Eigen::Matrix4f objectPoseGlobal;