diff --git a/source/RobotAPI/gui-plugins/CMakeLists.txt b/source/RobotAPI/gui-plugins/CMakeLists.txt
index 4f734de78a1c293dd98674e699077c75cb62d588..9095676c94a21da7a8b8615a22fcef619a778c92 100644
--- a/source/RobotAPI/gui-plugins/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/CMakeLists.txt
@@ -14,3 +14,5 @@ add_subdirectory(ViewSelection)
add_subdirectory(LaserScannerPlugin)
add_subdirectory(RobotUnitPlugin)
+
+add_subdirectory(HomogeneousMatrixCalculator)
\ No newline at end of file
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/CMakeLists.txt b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11fcc53e37344c679033345e425527e9a29af94e
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/CMakeLists.txt
@@ -0,0 +1,35 @@
+
+armarx_set_target("HomogeneousMatrixCalculatorGuiPlugin")
+
+find_package(Qt4 COMPONENTS QtCore QtGui QtDesigner)
+
+armarx_build_if(QT_FOUND "Qt not available")
+armarx_build_if(Simox_FOUND "VirtualRobot not available")
+armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
+
+if(QT_FOUND AND Simox_FOUND)
+ include_directories(${QT_USE_FILE} ${Simox_INCLUDE_DIRS})
+endif()
+
+set(SOURCES
+ HomogeneousMatrixCalculatorGuiPlugin.cpp
+ HomogeneousMatrixCalculatorWidgetController.cpp
+)
+
+set(HEADERS
+ HomogeneousMatrixCalculatorGuiPlugin.h
+ HomogeneousMatrixCalculatorWidgetController.h
+)
+
+set(GUI_MOC_HDRS HomogeneousMatrixCalculatorWidgetController.h)
+
+set(GUI_UIS
+ HomogeneousMatrixCalculatorWidget.ui
+)
+
+# Add more libraries you depend on here, e.g. ${QT_LIBRARIES}.
+set(COMPONENT_LIBS ${QT_LIBRARIES} ${Simox_LIBRARIES})
+
+if(ArmarXGui_FOUND)
+ armarx_gui_library(HomogeneousMatrixCalculatorGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}")
+endif()
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.cpp b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f55672ead4789aa417a511df25d6f2b14f1bf5cd
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.cpp
@@ -0,0 +1,34 @@
+/*
+ * 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 RobotAPI::gui-plugins::HomogeneousMatrixCalculatorGuiPlugin
+ * \author Raphael ( ufdrv at student dot kit dot edu )
+ * \date 2017
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "HomogeneousMatrixCalculatorGuiPlugin.h"
+
+#include "HomogeneousMatrixCalculatorWidgetController.h"
+
+using namespace armarx;
+
+HomogeneousMatrixCalculatorGuiPlugin::HomogeneousMatrixCalculatorGuiPlugin()
+{
+ addWidget < HomogeneousMatrixCalculatorWidgetController > ();
+}
+
+Q_EXPORT_PLUGIN2(armarx_gui_HomogeneousMatrixCalculatorGuiPlugin, HomogeneousMatrixCalculatorGuiPlugin)
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..d9bb1a09d3451a8822703ecf2eb6f4c34f41f973
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h
@@ -0,0 +1,51 @@
+/*
+ * 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 RobotAPI::gui-plugins::HomogeneousMatrixCalculator
+ * \author Raphael ( ufdrv at student dot kit dot edu )
+ * \date 2017
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_RobotAPI_HomogeneousMatrixCalculator_GuiPlugin_H
+#define _ARMARX_RobotAPI_HomogeneousMatrixCalculator_GuiPlugin_H
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+
+namespace armarx
+{
+ /**
+ * \class HomogeneousMatrixCalculatorGuiPlugin
+ * \ingroup ArmarXGuiPlugins
+ * \brief HomogeneousMatrixCalculatorGuiPlugin brief description
+ *
+ * Detailed description
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT HomogeneousMatrixCalculatorGuiPlugin:
+ public armarx::ArmarXGuiPlugin
+ {
+ public:
+ /**
+ * All widgets exposed by this plugin are added in the constructor
+ * via calls to addWidget()
+ */
+ HomogeneousMatrixCalculatorGuiPlugin();
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidget.ui b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidget.ui
new file mode 100644
index 0000000000000000000000000000000000000000..cc8becd83ad1d6004ae17a780f538a81910a31bc
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidget.ui
@@ -0,0 +1,344 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HomogeneousMatrixCalculatorWidget</class>
+ <widget class="QWidget" name="HomogeneousMatrixCalculatorWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>766</width>
+ <height>304</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>HomogeneousMatrixCalculatorWidget</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="5">
+ <widget class="QLineEdit" name="lineEditX">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="3">
+ <widget class="QLineEdit" name="lineEdit13">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="6">
+ <widget class="QLineEdit" name="lineEditRY">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="6">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>rx, ry, rz</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="6">
+ <widget class="QLineEdit" name="lineEditRX">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="5">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>X, Y, Z</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="4">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Homogenous Matrix</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QLineEdit" name="lineEdit12">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="lineEdit01">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLineEdit" name="lineEdit11">
+ <property name="text">
+ <string>1</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLineEdit" name="lineEdit20">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="3">
+ <widget class="QLineEdit" name="lineEdit03">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLineEdit" name="lineEdit21">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="2">
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="3" column="5">
+ <widget class="QLineEdit" name="lineEditZ">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="5">
+ <widget class="QLineEdit" name="lineEditY">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLineEdit" name="lineEdit30">
+ <property name="text">
+ <string>0</string>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLineEdit" name="lineEdit10">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLineEdit" name="lineEdit00">
+ <property name="text">
+ <string>1</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QLineEdit" name="lineEdit22">
+ <property name="text">
+ <string>1</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QLineEdit" name="lineEdit02">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QLineEdit" name="lineEdit31">
+ <property name="text">
+ <string>0</string>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="2">
+ <widget class="QLineEdit" name="lineEdit32">
+ <property name="text">
+ <string>0</string>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="3">
+ <widget class="QLineEdit" name="lineEdit23">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="7">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="4" column="3">
+ <widget class="QLineEdit" name="lineEdit33">
+ <property name="text">
+ <string>1</string>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="6">
+ <widget class="QLineEdit" name="lineEditRZ">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="4">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>=</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections>
+ <connection>
+ <sender>lineEdit03</sender>
+ <signal>textEdited(QString)</signal>
+ <receiver>lineEditX</receiver>
+ <slot>setText(QString)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>391</x>
+ <y>40</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>602</x>
+ <y>44</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>lineEdit13</sender>
+ <signal>textEdited(QString)</signal>
+ <receiver>lineEditY</receiver>
+ <slot>setText(QString)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>373</x>
+ <y>72</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>578</x>
+ <y>76</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>lineEdit23</sender>
+ <signal>textEdited(QString)</signal>
+ <receiver>lineEditZ</receiver>
+ <slot>setText(QString)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>380</x>
+ <y>111</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>608</x>
+ <y>111</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>lineEditX</sender>
+ <signal>textEdited(QString)</signal>
+ <receiver>lineEdit03</receiver>
+ <slot>setText(QString)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>579</x>
+ <y>57</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>442</x>
+ <y>57</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>lineEditY</sender>
+ <signal>textEdited(QString)</signal>
+ <receiver>lineEdit13</receiver>
+ <slot>setText(QString)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>614</x>
+ <y>89</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>389</x>
+ <y>89</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>lineEditZ</sender>
+ <signal>textEdited(QString)</signal>
+ <receiver>lineEdit23</receiver>
+ <slot>setText(QString)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>608</x>
+ <y>125</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>356</x>
+ <y>120</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.cpp b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5589cf0a010133c719d969a6340cb9ccffe0ccd4
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.cpp
@@ -0,0 +1,176 @@
+/*
+ * 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 RobotAPI::gui-plugins::HomogeneousMatrixCalculatorWidgetController
+ * \author Raphael ( ufdrv at student dot kit dot edu )
+ * \date 2017
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "HomogeneousMatrixCalculatorWidgetController.h"
+
+#include <string>
+
+#include <VirtualRobot/MathTools.h>
+
+#include <QDoubleValidator>
+
+using namespace armarx;
+
+HomogeneousMatrixCalculatorWidgetController::HomogeneousMatrixCalculatorWidgetController()
+{
+ widget.setupUi(getWidget());
+ widget.lineEdit00->setValidator(new QDoubleValidator(this));
+ widget.lineEdit01->setValidator(new QDoubleValidator(this));
+ widget.lineEdit02->setValidator(new QDoubleValidator(this));
+ widget.lineEdit03->setValidator(new QDoubleValidator(this));
+ widget.lineEdit10->setValidator(new QDoubleValidator(this));
+ widget.lineEdit11->setValidator(new QDoubleValidator(this));
+ widget.lineEdit12->setValidator(new QDoubleValidator(this));
+ widget.lineEdit13->setValidator(new QDoubleValidator(this));
+ widget.lineEdit20->setValidator(new QDoubleValidator(this));
+ widget.lineEdit21->setValidator(new QDoubleValidator(this));
+ widget.lineEdit22->setValidator(new QDoubleValidator(this));
+ widget.lineEdit23->setValidator(new QDoubleValidator(this));
+ widget.lineEdit30->setValidator(new QDoubleValidator(this));
+ widget.lineEdit31->setValidator(new QDoubleValidator(this));
+ widget.lineEdit32->setValidator(new QDoubleValidator(this));
+ widget.lineEdit33->setValidator(new QDoubleValidator(this));
+ widget.lineEditX->setValidator (new QDoubleValidator(this));
+ widget.lineEditY->setValidator (new QDoubleValidator(this));
+ widget.lineEditZ->setValidator (new QDoubleValidator(this));
+ widget.lineEditRX->setValidator(new QDoubleValidator(this));
+ widget.lineEditRY->setValidator(new QDoubleValidator(this));
+ widget.lineEditRZ->setValidator(new QDoubleValidator(this));
+
+ widget.lineEdit00->setFixedWidth(100);
+ widget.lineEdit01->setFixedWidth(100);
+ widget.lineEdit02->setFixedWidth(100);
+ widget.lineEdit03->setFixedWidth(100);
+ widget.lineEdit10->setFixedWidth(100);
+ widget.lineEdit11->setFixedWidth(100);
+ widget.lineEdit12->setFixedWidth(100);
+ widget.lineEdit13->setFixedWidth(100);
+ widget.lineEdit20->setFixedWidth(100);
+ widget.lineEdit21->setFixedWidth(100);
+ widget.lineEdit22->setFixedWidth(100);
+ widget.lineEdit23->setFixedWidth(100);
+ widget.lineEdit30->setFixedWidth(100);
+ widget.lineEdit31->setFixedWidth(100);
+ widget.lineEdit32->setFixedWidth(100);
+ widget.lineEdit33->setFixedWidth(100);
+ widget.lineEditX->setFixedWidth(100);
+ widget.lineEditY->setFixedWidth(100);
+ widget.lineEditZ->setFixedWidth(100);
+ widget.lineEditRX->setFixedWidth(100);
+ widget.lineEditRY->setFixedWidth(100);
+ widget.lineEditRZ->setFixedWidth(100);
+
+ widget.lineEdit00->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit01->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit02->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit03->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit10->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit11->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit12->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit13->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit20->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit21->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit22->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit23->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit30->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit31->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit32->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEdit33->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEditX->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEditY->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEditZ->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEditRX->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEditRY->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+ widget.lineEditRZ->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
+
+ connect(widget.lineEdit00,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
+ connect(widget.lineEdit01,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
+ connect(widget.lineEdit02,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
+ connect(widget.lineEdit10,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
+ connect(widget.lineEdit11,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
+ connect(widget.lineEdit12,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
+ connect(widget.lineEdit20,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
+ connect(widget.lineEdit21,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
+ connect(widget.lineEdit22,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
+ connect(widget.lineEditRX,SIGNAL(textEdited(QString)),this,SLOT(changedrpy()));
+ connect(widget.lineEditRY,SIGNAL(textEdited(QString)),this,SLOT(changedrpy()));
+ connect(widget.lineEditRZ,SIGNAL(textEdited(QString)),this,SLOT(changedrpy()));
+}
+
+
+HomogeneousMatrixCalculatorWidgetController::~HomogeneousMatrixCalculatorWidgetController()
+{
+
+}
+
+
+void HomogeneousMatrixCalculatorWidgetController::loadSettings(QSettings* settings)
+{
+
+}
+
+void HomogeneousMatrixCalculatorWidgetController::saveSettings(QSettings* settings)
+{
+
+}
+
+
+void HomogeneousMatrixCalculatorWidgetController::onInitComponent()
+{
+
+}
+
+
+void HomogeneousMatrixCalculatorWidgetController::onConnectComponent()
+{
+
+}
+
+void armarx::HomogeneousMatrixCalculatorWidgetController::changed4f()
+{
+ Eigen::Matrix4d m;
+ m << widget.lineEdit00->text().toDouble(),widget.lineEdit01->text().toDouble(),widget.lineEdit02->text().toDouble(),0,
+ widget.lineEdit10->text().toDouble(),widget.lineEdit11->text().toDouble(),widget.lineEdit12->text().toDouble(),0,
+ widget.lineEdit20->text().toDouble(),widget.lineEdit21->text().toDouble(),widget.lineEdit22->text().toDouble(),0,
+ 0 ,0 ,0 ,1;
+ Eigen::Vector3f rpy = VirtualRobot::MathTools::eigen4f2rpy(m.cast<float>());
+ widget.lineEditRX->setText(QString::number(rpy(0)));
+ widget.lineEditRY->setText(QString::number(rpy(1)));
+ widget.lineEditRZ->setText(QString::number(rpy(2)));
+}
+
+void armarx::HomogeneousMatrixCalculatorWidgetController::changedrpy()
+{
+ float r = static_cast<float>(widget.lineEditRX->text().toDouble());
+ float p = static_cast<float>(widget.lineEditRY->text().toDouble());
+ float y = static_cast<float>(widget.lineEditRZ->text().toDouble());
+ Eigen::Matrix4f m = VirtualRobot::MathTools::rpy2eigen4f(r,p,y);
+ widget.lineEdit00->setText(QString::number(m(0,0)));
+ widget.lineEdit01->setText(QString::number(m(0,1)));
+ widget.lineEdit02->setText(QString::number(m(0,2)));
+ widget.lineEdit10->setText(QString::number(m(1,0)));
+ widget.lineEdit11->setText(QString::number(m(1,1)));
+ widget.lineEdit12->setText(QString::number(m(1,2)));
+ widget.lineEdit20->setText(QString::number(m(2,0)));
+ widget.lineEdit21->setText(QString::number(m(2,1)));
+ widget.lineEdit22->setText(QString::number(m(2,2)));
+}
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h
new file mode 100644
index 0000000000000000000000000000000000000000..75b64d19eda7f1dddaa4e5c5525cd91125356b32
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h
@@ -0,0 +1,118 @@
+/*
+ * 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 RobotAPI::gui-plugins::HomogeneousMatrixCalculatorWidgetController
+ * @author Raphael ( ufdrv at student dot kit dot edu )
+ * @date 2017
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_RobotAPI_HomogeneousMatrixCalculator_WidgetController_H
+#define _ARMARX_RobotAPI_HomogeneousMatrixCalculator_WidgetController_H
+
+#include "ui_HomogeneousMatrixCalculatorWidget.h"
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+namespace armarx
+{
+ /**
+ \page ArmarXGui-GuiPlugins-HomogeneousMatrixCalculator HomogeneousMatrixCalculator
+ \brief The HomogeneousMatrixCalculator allows visualizing ...
+
+ \image html HomogeneousMatrixCalculator.png
+ The user can
+
+ API Documentation \ref HomogeneousMatrixCalculatorWidgetController
+
+ \see HomogeneousMatrixCalculatorGuiPlugin
+ */
+
+ /**
+ * \class HomogeneousMatrixCalculatorWidgetController
+ * \brief HomogeneousMatrixCalculatorWidgetController brief one line description
+ *
+ * Detailed description
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT
+ HomogeneousMatrixCalculatorWidgetController:
+ public armarx::ArmarXComponentWidgetController
+ {
+ Q_OBJECT
+
+ public:
+ /**
+ * Controller Constructor
+ */
+ explicit HomogeneousMatrixCalculatorWidgetController();
+
+ /**
+ * Controller destructor
+ */
+ virtual ~HomogeneousMatrixCalculatorWidgetController();
+
+ /**
+ * @see ArmarXWidgetController::loadSettings()
+ */
+ virtual void loadSettings(QSettings* settings);
+
+ /**
+ * @see ArmarXWidgetController::saveSettings()
+ */
+ virtual void saveSettings(QSettings* settings);
+
+ /**
+ * Returns the Widget name displayed in the ArmarXGui to create an
+ * instance of this class.
+ */
+ virtual QString getWidgetName() const
+ {
+ return "Util.HomogeneousMatrixCalculator";
+ }
+
+ /**
+ * \see armarx::Component::onInitComponent()
+ */
+ virtual void onInitComponent();
+
+ /**
+ * \see armarx::Component::onConnectComponent()
+ */
+ virtual void onConnectComponent();
+
+ public slots:
+ /* QT slot declarations */
+
+ signals:
+ /* QT signal declarations */
+
+ private slots:
+ void changed4f();
+
+ void changedrpy();
+
+ private:
+ /**
+ * Widget Form
+ */
+ Ui::HomogeneousMatrixCalculatorWidget widget;
+ };
+}
+
+#endif