Make pose display in ArMem viewer nicer

source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp

@@ -3,6 +3,7 @@
 #include <iomanip>      // std::setprecision
 
 #include <SimoxUtility/algorithm/string.h>
+#include <SimoxUtility/math/pose/pose.h>
 
 #include <ArmarXCore/core/logging/Logging.h>
 
@@ -159,12 +160,33 @@ namespace armarx::aron
 
     bool TypedDataDisplayVisitor::visit(PoseTypeNavigator&, NDArrayDataNavigator& data)
     {
+        const Eigen::IOFormat eigenIof(Eigen::StreamPrecision, 0, " ", "\n", "( ", " )", "", "");
+        const std::string cdot = "\u00B7";  // center dot: https://unicode-table.com/de/00B7/
+
+        auto getLines = [&](auto&& mat)
+        {
+            std::stringstream ss;
+            setStreamPrecision(ss);
+            ss << mat.format(eigenIof);
+            std::vector<std::string> lines = simox::alg::split(ss.str(), "\n");
+            ARMARX_CHECK_EQUAL(lines.size(), 3);
+            return lines;
+        };
+
         const Eigen::Matrix4f pose = aron::converter::AronEigenConverter::ConvertToMatrix4f(data);
-        setStreamPrecision();
-        value << pose.format(eigenIof);
+        const std::vector<std::string> r = getLines(simox::math::orientation(pose));
+        const std::vector<std::string> t = getLines(simox::math::position(pose));
+
+        std::vector<std::string> lines;
+        lines.push_back(r.at(0) + "      \t" + t.at(0));
+        lines.push_back(r.at(1) + " " + cdot + " x + \t" + t.at(1));
+        lines.push_back(r.at(2) + "      \t" + t.at(2));
+
+        value << simox::alg::join(lines, "\n");
         return false;
     }
 
+
     bool TypedDataDisplayVisitor::visit(PositionTypeNavigator&, NDArrayDataNavigator& data)
     {
         const Eigen::Vector3f pos = aron::converter::AronEigenConverter::ConvertToVector3f(data);
@@ -188,7 +210,12 @@ namespace armarx::aron
 
     void TypedDataDisplayVisitor::setStreamPrecision()
     {
-        value << std::setprecision(2) << std::fixed;
+        setStreamPrecision(value);
+    }
+
+    void TypedDataDisplayVisitor::setStreamPrecision(std::ostream& os)
+    {
+        os << std::setprecision(2) << std::fixed;
     }
 
 }

source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h

@@ -65,6 +65,7 @@ namespace armarx::aron
         void processEigenQuaternion(NDArrayDataNavigator& data);
 
         void setStreamPrecision();
+        void setStreamPrecision(std::ostream& os);
 
     };