Make Box optional and update conversions

source/RobotAPI/components/ObjectPoseObserver/ObjectPose.h

 #pragma once
 
+#include <optional>
+
 #include <Eigen/Core>
 
 #include <SimoxUtility/shapes/OrientedBox.h>
@@ -52,7 +54,7 @@ namespace armarx::objpose
         IceUtil::Time timestamp = IceUtil::Time::microSeconds(-1);
 
         /// Object bounding box in object's local coordinate frame.
-        simox::OrientedBoxf localOOBB;
+        std::optional<simox::OrientedBoxf> localOOBB;
     };
     using ObjectPoseSeq = std::vector<ObjectPose>;
 

source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp

@@ -82,6 +82,17 @@ namespace armarx
             oobb = {};
         }
     }
+    void objpose::fromIce(const BoxPtr& box, std::optional<simox::OrientedBox<float>>& oobb)
+    {
+        if (box)
+        {
+            oobb = fromIce(*box);
+        }
+        else
+        {
+            oobb = std::nullopt;
+        }
+    }
 
     simox::OrientedBoxf objpose::fromIce(const Box& box)
     {
@@ -97,6 +108,15 @@ namespace armarx
         box.extents = new Vector3(oobb.dimensions());
     }
 
+    void objpose::toIce(BoxPtr& box, const std::optional<simox::OrientedBox<float>>& oobb)
+    {
+        if (oobb)
+        {
+            box = new Box();
+            toIce(*box, *oobb);
+        }
+    }
+
     objpose::Box objpose::toIce(const simox::OrientedBoxf& oobb)
     {
         objpose::Box box;

source/RobotAPI/components/ObjectPoseObserver/ice_conversions.h

@@ -28,8 +28,11 @@ namespace armarx::objpose
 
 
     void fromIce(const Box& box, simox::OrientedBox<float>& oobb);
+    void fromIce(const BoxPtr& box, std::optional<simox::OrientedBox<float>>& oobb);
     simox::OrientedBox<float> fromIce(const Box& box);
 
+
+    void toIce(BoxPtr& box, const std::optional<simox::OrientedBox<float>>& oobb);
     void toIce(Box& box, const simox::OrientedBox<float>& oobb);
     Box toIce(const simox::OrientedBox<float>& oobb);