diff --git a/source/ArmarXGui/libraries/ArmarXGuiBase/CMakeLists.txt b/source/ArmarXGui/libraries/ArmarXGuiBase/CMakeLists.txt
index 5b09eedb90c4e6ccbe04682911e0ea85005fb322..c6b71816a9e999e1029c988f1528012ed99f3f6d 100644
--- a/source/ArmarXGui/libraries/ArmarXGuiBase/CMakeLists.txt
+++ b/source/ArmarXGui/libraries/ArmarXGuiBase/CMakeLists.txt
@@ -32,6 +32,7 @@ set(LIB_FILES ArmarXWidgetController.cpp
widgets/IceProxyFinder.cpp
widgets/VariantItem.cpp
widgets/JoystickControlWidget.cpp
+ widgets/EnhancedGraphicsView.cpp
widgets/EnhancedTreeWidget.cpp
widgets/FilterableTreeView.cpp
widgets/MarkdownEditor.cpp
@@ -53,6 +54,7 @@ set(LIB_HEADERS ArmarXGuiInterface.h
widgets/IceProxyFinder.h
widgets/VariantItem.h
widgets/JoystickControlWidget.h
+ widgets/EnhancedGraphicsView.h
widgets/EnhancedTreeWidget.h
widgets/FilterableTreeView.h
widgets/MarkdownEditor.h
@@ -82,6 +84,7 @@ qt4_wrap_cpp(LIB_FILES
widgets/FilterableTreeView.h
widgets/IceProxyFinder.h
widgets/JoystickControlWidget.h
+ widgets/EnhancedGraphicsView.h
widgets/EnhancedTreeWidget.h
widgets/MarkdownEditor.h
widgets/TipDialog.h
diff --git a/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/EnhancedGraphicsView.cpp b/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/EnhancedGraphicsView.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0bfa7138ee754937320b124df4cbedc1c1ca7734
--- /dev/null
+++ b/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/EnhancedGraphicsView.cpp
@@ -0,0 +1,178 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package ArmarXGui::EnhancedGraphicsView
+ * @author Raphael Grimm ( raphael dot grimm at student dot kit dot edu )
+ * @date 2017
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#include "EnhancedGraphicsView.h"
+
+namespace armarx
+{
+
+ Qt::KeyboardModifier EnhancedGraphicsView::getRotationKeyboardModifier() const
+ {
+ return rotationModifier;
+ }
+
+ qreal EnhancedGraphicsView::getRotationFactor() const
+ {
+ return rotationFactor;
+ }
+
+ Qt::KeyboardModifier EnhancedGraphicsView::getZoomKeyboardModifier() const
+ {
+ return zoomModifier;
+ }
+
+ qreal EnhancedGraphicsView::getZoomFactor() const
+ {
+ return zoomFacor;
+ }
+
+ Qt::KeyboardModifier EnhancedGraphicsView::getDraggingKeyboardModifier() const
+ {
+ return draggingModifier;
+ }
+
+ Qt::MouseButton EnhancedGraphicsView::getDraggingMouseButton() const
+ {
+ return draggingButton;
+ }
+
+ void EnhancedGraphicsView::setRotationEnabled(bool enabled)
+ {
+ rotationEnabled = enabled;
+ }
+
+ void EnhancedGraphicsView::setRotationDisabled(bool disabled)
+ {
+ rotationEnabled = !disabled;
+ }
+
+ void EnhancedGraphicsView::setRotationKeyboardModifier(Qt::KeyboardModifier mod)
+ {
+ rotationModifier = mod;
+ }
+
+ void EnhancedGraphicsView::setRotationFactor(qreal factor)
+ {
+ rotationFactor = factor;
+ }
+
+ void EnhancedGraphicsView::setZoomEnabled(bool enabled)
+ {
+ zoomEnabled = enabled;
+ }
+
+ void EnhancedGraphicsView::setZoomDisabled(bool disabled)
+ {
+ zoomEnabled = !disabled;
+ }
+
+ void EnhancedGraphicsView::setZoomKeyboardModifier(Qt::KeyboardModifier mod)
+ {
+ zoomModifier = mod;
+ }
+
+ void EnhancedGraphicsView::setZoomFactor(qreal factor)
+ {
+ zoomFacor = factor;
+ }
+
+ void EnhancedGraphicsView::setDraggingEnabled(bool enabled)
+ {
+ draggingEnabled = enabled;
+ }
+
+ void EnhancedGraphicsView::setDraggingDisabled(bool disabled)
+ {
+ draggingEnabled = !disabled;
+ }
+
+ void EnhancedGraphicsView::setDraggingKeyboardModifier(Qt::KeyboardModifier mod)
+ {
+ draggingModifier = mod;
+ }
+
+ void EnhancedGraphicsView::setDraggingMouseButton(Qt::MouseButton button)
+ {
+ draggingButton = button;
+ }
+
+ void EnhancedGraphicsView::mousePressEvent(QMouseEvent* e)
+ {
+ draggingStartPosition = mapToScene(e->pos());
+ QGraphicsView::mousePressEvent(e);
+ }
+
+ void EnhancedGraphicsView::mouseMoveEvent(QMouseEvent* e)
+ {
+ if (
+ (e->modifiers() & draggingModifier) == draggingModifier &&
+ (e->buttons() & draggingButton) == draggingButton
+ )
+ {
+ const auto oldAnchor = transformationAnchor();
+ setTransformationAnchor(QGraphicsView::NoAnchor);
+
+ const QPointF vector = mapToScene(e->pos()) - draggingStartPosition;
+ translate(vector.x(), vector.y());
+ draggingStartPosition = mapToScene(e->pos());
+ e->accept();
+
+ setTransformationAnchor(oldAnchor);
+ return;
+ }
+ QGraphicsView::mouseMoveEvent(e);
+ }
+
+ void EnhancedGraphicsView::wheelEvent(QWheelEvent* e)
+ {
+ bool used = false;
+ if ((e->modifiers() & zoomModifier) == zoomModifier)
+ {
+ const auto oldAnchor = transformationAnchor();
+ setTransformationAnchor(QGraphicsView::NoAnchor);
+
+ float factor = std::pow(zoomFacor, e->delta() < 0 ? -1 : +1);
+ scale(factor, factor);
+ used = true;
+
+ setTransformationAnchor(oldAnchor);
+ }
+ if ((e->modifiers() & rotationModifier) == rotationModifier)
+ {
+ const auto oldAnchor = transformationAnchor();
+ setTransformationAnchor(QGraphicsView::NoAnchor);
+
+ rotate(e->delta() * rotationFactor);
+ used = true;
+
+ setTransformationAnchor(oldAnchor);
+ }
+ if (used)
+ {
+ e->accept();
+ }
+ else
+ {
+ QGraphicsView::wheelEvent(e);
+ }
+ }
+
+}
diff --git a/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/EnhancedGraphicsView.h b/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/EnhancedGraphicsView.h
new file mode 100644
index 0000000000000000000000000000000000000000..2fd97e40f5d0ca5e031ca684916fd7f9497e3100
--- /dev/null
+++ b/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/EnhancedGraphicsView.h
@@ -0,0 +1,92 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package ArmarXGui::EnhancedGraphicsView
+ * @author Raphael Grimm ( raphael dot grimm at student dot kit dot edu )
+ * @date 2017
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_ArmarXGui_EnhancedGraphicsView_H
+#define _ARMARX_ArmarXGui_EnhancedGraphicsView_H
+
+#include <QGraphicsView>
+#include <QPointF>
+#include <QMouseEvent>
+#include <QWheelEvent>
+#include <cmath>
+namespace armarx
+{
+ /**
+ * @brief The EnhancedGraphicsView is a QGraphicsView with some additional
+ * functions.
+ *
+ * Additional functions are:
+ * - Zooming (default ctrl+scroll)
+ * - Roatating (default shift+scroll)
+ * - Dragging the scene (default ctrl+left click+dragging)
+ */
+ class EnhancedGraphicsView: public QGraphicsView
+ {
+ Q_OBJECT
+ public:
+ using QGraphicsView::QGraphicsView;
+
+ Qt::KeyboardModifier getRotationKeyboardModifier() const;
+ qreal getRotationFactor() const;
+
+ Qt::KeyboardModifier getZoomKeyboardModifier() const;
+ qreal setZoomFactor();
+ qreal getZoomFactor() const;
+
+ Qt::KeyboardModifier getDraggingKeyboardModifier() const;
+ Qt::MouseButton getDraggingMouseButton() const;
+ public slots:
+ void setRotationEnabled(bool enabled = true);
+ void setRotationDisabled(bool disabled = true);
+ void setRotationKeyboardModifier(Qt::KeyboardModifier mod);
+ void setRotationFactor(qreal factor);
+
+ void setZoomEnabled(bool enabled = true);
+ void setZoomDisabled(bool disabled = true);
+ void setZoomKeyboardModifier(Qt::KeyboardModifier mod);
+ void setZoomFactor(qreal factor);
+
+ void setDraggingEnabled(bool enabled = true);
+ void setDraggingDisabled(bool disabled = true);
+ void setDraggingKeyboardModifier(Qt::KeyboardModifier mod);
+ void setDraggingMouseButton(Qt::MouseButton button);
+
+ protected:
+ virtual void mousePressEvent(QMouseEvent* e) override;
+ virtual void mouseMoveEvent(QMouseEvent* e) override;
+ virtual void wheelEvent(QWheelEvent* e) override;
+
+ bool rotationEnabled {true};
+ Qt::KeyboardModifier rotationModifier {Qt::ShiftModifier};
+ qreal rotationFactor {0.01};
+
+ bool zoomEnabled {true};
+ Qt::KeyboardModifier zoomModifier {Qt::ControlModifier};
+ qreal zoomFacor {1.05};
+
+ bool draggingEnabled {true};
+ Qt::KeyboardModifier draggingModifier {Qt::ControlModifier};
+ Qt::MouseButton draggingButton {Qt::LeftButton};
+ QPointF draggingStartPosition;
+ };
+}
+#endif