aron: registering custom pcl type

source/RobotAPI/libraries/aron/core/CMakeLists.txt

@@ -5,9 +5,6 @@ armarx_set_target("Library: ${LIB_NAME}")
 
 find_package(Eigen3 QUIET)
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-if(Eigen3_FOUND)
-    include_directories(${Eigen3_INCLUDE_DIR})
-endif()
 
 find_package(Simox QUIET)
 armarx_build_if(Simox_FOUND "Simox not available")
@@ -15,6 +12,9 @@ if(Simox_FOUND)
     include_directories(${Simox_INCLUDE_DIR})
 endif()
 
+find_package(PCL QUIET COMPONENTS io common)
+armarx_build_if(PCL_FOUND "PCL not available")
+
 
 set(LIBS
     ArmarXCoreInterfaces
@@ -22,6 +22,9 @@ set(LIBS
     RobotAPIInterfaces
     cppgen
     ${Simox_LIBS}
+    # System libraries
+    Eigen3::Eigen
+    # PCLInterface
 )
 
 set(LIB_FILES
@@ -217,7 +220,17 @@ set(LIB_HEADERS
     codegenerator/typeReader/xml/Reader.h
 )
 
+
 armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
 
+
+if(PCL_FOUND)
+target_include_directories("${LIB_NAME}" 
+    SYSTEM PUBLIC 
+        "${PCL_INCLUDE_DIRS}"
+)
+endif()
+
+
 # add unit tests
 add_subdirectory(test)

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

@@ -24,6 +24,8 @@
 // Header
 #include "PCLPointCloud.h"
 
+#include <RobotAPI/libraries/core/pcl_point_types.h>
+
 namespace armarx::aron::cppcodegenerator::serializer
 {
 
@@ -37,6 +39,7 @@ namespace armarx::aron::cppcodegenerator::serializer
         {"PointXYZRGBL", {"pcl::PointXYZRGBL", 32}},
         {"PointXYZRGBA", {"pcl::PointXYZRGBA", 32}},
         {"PointXYZHSV", {"pcl::PointXYZHSV", 32}},
+        {"PointPolar", {"pcl::PointPolar", 16}},
     };
 
     // constructors

source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h

@@ -79,7 +79,8 @@ namespace armarx::aron::typenavigator
             {"PointXYZRGB", {"pcl::PointXYZRGB"}},
             {"PointXYZRGBL", {"pcl::PointXYZRGBL"}},
             {"PointXYZRGBA", {"pcl::PointXYZRGBA"}},
-            {"PointXYZHSV", {"pcl::PointXYZHSV"}}
+            {"PointXYZHSV", {"pcl::PointXYZHSV"}},
+            {"PointPolar", {"pcl::PointPolar"}}
         };
         const unsigned int ACCEPTED_DIMENSION_MIN_SIZE = 2;
         const unsigned int ACCEPTED_DIMENSION_MAX_SIZE = 2;