added getStatusText in PositionControllerHelper

source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.cpp

@@ -148,3 +148,11 @@ void PositionControllerHelper::setNullSpaceControl(bool enabled)
 {
     velocityControllerHelper->setNullSpaceControl(enabled);
 }
+
+std::string PositionControllerHelper::getStatusText()
+{
+    std::stringstream ss;
+    ss.precision(2);
+    ss << std::fixed << "Waypoint: " << (currentWaypointIndex + 1) << "/" << waypoints.size() << " distance: " << getPositionError() << " mm " << VirtualRobot::MathTools::rad2deg(getOrientationError()) << " deg";
+    return ss.str();
+}

source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h

@@ -70,6 +70,8 @@ namespace armarx
 
         void setNullSpaceControl(bool enabled);
 
+        std::string getStatusText();
+
         CartesianPositionController posController;
         VelocityControllerHelperPtr velocityControllerHelper;