robot ik gui now displays the poses in root frame

source/RobotComponents/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp

@@ -305,7 +305,7 @@ armarx::StringList armarx::RobotIKWidgetController::getIncludePaths()
         StringList packages = robotStateComponentPrx->getArmarXPackages();
         packages.push_back(Application::GetProjectName());
 
-        for (const std::string & projectName : packages)
+        for (const std::string& projectName : packages)
         {
             if (projectName.empty())
             {
@@ -416,16 +416,18 @@ void armarx::RobotIKWidgetController::textFieldUpdateTimerCB(void* data, SoSenso
 
     if (controller->visualization->getIsVisualizing())
     {
-        Eigen::Matrix4f tcpMatrix = controller->robot->getRobotNodeSet(controller->ui.comboBox->currentText().toStdString())->getTCP()->getGlobalPose();
-
+        Eigen::Matrix4f tcpMatrix = controller->robot->getRobotNodeSet(controller->ui.comboBox->currentText().toStdString())->getTCP()->getPoseInRootFrame();
+        FramedPose actualPose(tcpMatrix,
+                              controller->robot->getRootNode()->getName(),
+                              controller->robot->getName());
         //Set text label to tcp matrix
-        std::stringstream buffer;
-        buffer << tcpMatrix;
-        std::string matrixText = buffer.str();
-        controller->ui.currentPoseMatrix->setText(QString::fromStdString(matrixText));
+        controller->ui.currentPoseMatrix->setText(QString::fromStdString(actualPose.output()));
 
         //Set text label for desired tcp pose
-        controller->ui.desiredPoseMatrix->setText(QString::fromStdString(controller->visualization->getUserDesiredPoseString()));
+        FramedPose desired(controller->robot->getRootNode()->toLocalCoordinateSystem(controller->visualization->getUserDesiredPose()),
+                           controller->robot->getRootNode()->getName(),
+                           controller->robot->getName());
+        controller->ui.desiredPoseMatrix->setText(QString::fromStdString(desired.output()));
     }
 }