Implement adding vertices and creating new graphs; remove robot pose from graph aron

source/armarx/navigation/components/GraphImportExport/GraphImportExport.cpp

@@ -26,7 +26,6 @@
 
 #include <armarx/navigation/location/aron/Location.aron.generated.h>
 #include <armarx/navigation/location/constants.h>
-#include <armarx/navigation/graph/Writer.h>
 
 #include <armarx/navigation/graph/aron/Graph.aron.generated.h>
 #include <armarx/navigation/graph/constants.h>
@@ -373,7 +372,7 @@ namespace armarx::nav
                 nav::graph::Graph::Vertex& vertex = vertexMap.emplace(name, graph.addVertex(nextVertexID)).first->second;
                 vertex.attrib().aron.vertexID = static_cast<long>(nextVertexID);
                 toAron(vertex.attrib().aron.locationID, getLocationProviderSegmentID().withEntityName(name));
-                vertex.attrib().aron.globalRobotPose = globalNodePose->toEigen();
+                vertex.attrib().setPose(globalNodePose->toEigen());
 
                 nextVertexID++;
             }

source/armarx/navigation/graph/Graph.cpp

@@ -22,8 +22,14 @@
 
 #include "Graph.h"
 
+#include <armarx/navigation/location/aron/Location.aron.generated.h>
+
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
+#include <RobotAPI/libraries/armem/core/aron_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+
+
 
 namespace armarx::nav::graph
 {
@@ -33,14 +39,20 @@ namespace armarx::nav::graph
         return aron.locationID.providerSegmentName + "/" + aron.locationID.entityName;
     }
 
+    bool VertexAttribs::hasPose() const
+    {
+        return _pose.has_value();
+    }
+
     Eigen::Matrix4f VertexAttribs::getPose() const
     {
-        return aron.globalRobotPose;
+        ARMARX_CHECK(_pose.has_value());
+        return _pose.value();
     }
 
     void VertexAttribs::setPose(const Eigen::Matrix4f& pose)
     {
-        this->aron.globalRobotPose = pose;
+        this->_pose = pose;
     }
 
 }
@@ -87,4 +99,22 @@ namespace armarx::nav
         ARMARX_CHECK_EQUAL(bo.numEdges(), dto.edges.size());
     }
 
+
+    void graph::resolveLocations(Graph& bo, armem::wm::Memory& locationMemory)
+    {
+        for (graph::Graph::Vertex vertex : bo.vertices())
+        {
+            armem::MemoryID locationID;
+            fromAron(vertex.attrib().aron.locationID, locationID);
+
+            armem::wm::EntityInstance* instance = locationMemory.findLatestInstance(locationID);
+            if (instance)
+            {
+                nav::loc::arondto::Location dto;
+                dto.fromAron(instance->data());
+                vertex.attrib().setPose(dto.globalRobotPose);
+            }
+        }
+    }
+
 }

source/armarx/navigation/graph/Graph.h

@@ -24,6 +24,8 @@
 
 #include <armarx/navigation/graph/aron/Graph.aron.generated.h>
 
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+
 #include <SemanticObjectRelations/RelationGraph/RelationGraph.h>
 
 
@@ -36,13 +38,21 @@ namespace armarx::nav::graph
 
         std::string getName() const;
 
+        bool hasPose() const;
         Eigen::Matrix4f getPose() const;
         void setPose(const Eigen::Matrix4f& pose);
+
+    private:
+
+        std::optional<Eigen::Matrix4f> _pose;
+
     };
+
     struct EdgeAttribs
     {
         armarx::nav::graph::arondto::Edge aron;
     };
+
     struct GraphAttribs
     {
     };
@@ -52,5 +62,6 @@ namespace armarx::nav::graph
 
     void toAron(arondto::Graph& dto, const Graph& bo);
     void fromAron(const arondto::Graph& dto, Graph& bo);
+    void resolveLocations(Graph& bo, armem::wm::Memory& locationMemory);
 
 }

source/armarx/navigation/graph/aron/Graph.xml

@@ -19,9 +19,10 @@
                 <armarx::armem::arondto::MemoryID />
             </ObjectChild>
 
-            <ObjectChild key='globalRobotPose'>
+            <!-- Only stored in Location -->
+            <!--ObjectChild key='globalRobotPose'>
                 <Pose />
-            </ObjectChild>
+            </ObjectChild-->
 
         </Object>
 

source/armarx/navigation/gui-plugins/LocationGraphEditor/CMakeLists.txt

@@ -20,6 +20,7 @@ set(SOURCES
     widgets/default_colors.cpp
     widgets/utils.cpp
     widgets/EdgeTableWidget.cpp
+    widgets/NewEntityIdDialog.cpp
     widgets/VertexDataWidget.cpp
     widgets/VertexTableWidget.cpp
 
@@ -37,6 +38,7 @@ set(HEADERS
     widgets/default_colors.h
     widgets/utils.h
     widgets/EdgeTableWidget.h
+    widgets/NewEntityIdDialog.h
     widgets/VertexDataWidget.h
     widgets/VertexTableWidget.h
 

source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui

@@ -15,18 +15,28 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
    <item>
-    <widget class="QGroupBox" name="sceneGroupBox">
+    <widget class="QGroupBox" name="graphGroupBox">
      <property name="title">
       <string>Navigation Graphs from Navigation Graph Segment</string>
      </property>
      <layout class="QHBoxLayout" name="horizontalLayout_4">
       <item>
-       <widget class="QPushButton" name="refreshGraphsButton">
+       <widget class="QPushButton" name="createGraphButton">
         <property name="toolTip">
          <string>Reloads the list of scenes from the memory</string>
         </property>
         <property name="text">
-         <string>Refresh List</string>
+         <string>Create New Graph</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="queryGraphsButton">
+        <property name="toolTip">
+         <string>Reloads the list of scenes from the memory</string>
+        </property>
+        <property name="text">
+         <string>Query</string>
         </property>
        </widget>
       </item>
@@ -110,6 +120,14 @@
              </layout>
             </widget>
            </item>
+           <item>
+            <widget class="QGroupBox" name="robotVisuGroupBox">
+             <property name="title">
+              <string>Robot Visu</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_5"/>
+            </widget>
+           </item>
           </layout>
          </widget>
          <widget class="QWidget" name="verticalLayout_13Widget">
@@ -117,7 +135,7 @@
            <item>
             <widget class="QGroupBox" name="locationsTableGroupBox">
              <property name="title">
-              <string>Locations (Graph Vertices)</string>
+              <string>Locations (right click for options)</string>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_7">
               <property name="leftMargin">
@@ -142,7 +160,7 @@
            <item>
             <widget class="QGroupBox" name="edgesTableGroupBox">
              <property name="title">
-              <string>Graph Edges</string>
+              <string>Graph Edges (right click for options)</string>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_8">
               <property name="leftMargin">

source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h

@@ -21,8 +21,8 @@
  */
 #pragma once
 
-#include "FunctionalEventFilter.h"
 #include "GuiGraph.h"
+#include "Visu.h"
 #include "widgets/graph_scene.h"
 
 #include <armarx/navigation/graph/Graph.h>
@@ -52,6 +52,10 @@ namespace armarx::viz
 {
     class Client;
 }
+namespace armarx::nav::locgrapheditor::utils
+{
+    enum class EdgeDirection;
+}
 namespace armarx::nav::locgrapheditor
 {
     class EdgeTableWidget;
@@ -127,59 +131,73 @@ namespace armarx::nav::locgrapheditor
     signals:
 
         void connected();
-        void memoryDataChanged();
+
+        void locationMemoryChanged();
+        void graphMemoryChanged();
+        void memoryChanged();
+
         void graphChanged();
 
 
     private slots:
 
-        // Model
+        // Load
+        void queryMemory();
+        armem::client::QueryResult queryLocations();
+        armem::client::QueryResult queryGraphs();
 
-        void queryGraphs();
-        void updateGraphList();
         void loadGraph();
+        bool loadGraphDialog();
 
-        void setGraph(graph::Graph& nav);
-        GuiGraph::Vertex addVertex(graph::Graph::ConstVertex vertex);
-        GuiGraph::Edge addEdge(graph::Graph::ConstEdge edge);
-        GuiGraph::Edge addEdge(GuiGraph::ConstVertex source, GuiGraph::ConstVertex target,
-                               const EdgeData& defaultAttribs);
-
-        void clearGraph();
-        void clearEdges();
-        void clearVertices();
-
-        void removeEdge(GuiGraph::Edge& edge);
-        void removeVertex(GuiGraph::Vertex& vertex);
-
-        void addEdges(QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> vertexItems);
-        void removeEdges(QList<QTableWidgetItem*> edgeItems);
-
-
+        // Commit
         void commit();
         armem::CommitResult commitLocations();
         armem::EntityUpdateResult commitGraph();
 
-        // View & Tables
 
+        // View & Tables
+        void updateGraphList();
         void updateGraphView();
         void updateVertexView(GuiGraph::Vertex vertex);
         void updateEdgeView(GuiGraph::Edge edge);
         void updateArViz();
 
 
-        // Selection
-
+        // Selection & Highlighting
         void selectVertex(QTableWidgetItem* vertexItem);
         void selectVertex(GuiGraph::Vertex vertex);
-
-        void resetHighlighting();
         void updateVertexHighlighting();
         void updateEdgeHighlighting();
 
 
+        // Graph modification triggered by user interaction
+        void createVertexDialog();
+
+        void addEdges(QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> vertexItems);
+        void removeEdges(QList<QTableWidgetItem*> edgeItems);
+        void removeEdgesOfVertex(QList<QTableWidgetItem*> vertexItems, utils::EdgeDirection direction);
+
+        void createGraphDialog();
+
+
     private:
 
+        void setGraph(const graph::Graph& nav);
+
+        GuiGraph::Vertex
+        addVertex(semrel::ShapeID vertexID, const VertexData& defaultAttribs);
+
+        GuiGraph::Edge
+        addEdge(GuiGraph::ConstVertex source, GuiGraph::ConstVertex target, const EdgeData& defaultAttribs);
+
+        void removeVertex(GuiGraph::Vertex& vertex);
+        void removeEdge(GuiGraph::Edge& edge);
+
+        void clearGraph();
+        void clearEdges();
+        void clearVertices();
+
+
         QString getGraphDisplayName(const armem::MemoryID& entityID, bool changed = false) const;
 
 
@@ -187,7 +205,7 @@ namespace armarx::nav::locgrapheditor
 
         /// Widget Form
         Ui::LocationGraphEditorWidget widget;
-        QPointer<SimpleConfigDialog> dialog;
+        QPointer<SimpleConfigDialog> configDialog;
 
 
         struct Remote
@@ -210,9 +228,13 @@ namespace armarx::nav::locgrapheditor
 
         struct Model
         {
-            armem::wm::Memory memory;
+            armem::wm::Memory locationsMemory;
+
+            armem::wm::Memory graphMemory;
             armem::MemoryID graphEntityID;
             GuiGraph graph;
+
+            GraphVisu visu;
         };
         Model model;
 
@@ -228,30 +250,6 @@ namespace armarx::nav::locgrapheditor
         View view;
 
 
-    // Non-refactored
-
-#if 0
-    private slots:
-
-        void tableWidgetVerticesCustomContextMenu(QPoint pos);
-        void tableWidgetEdgesCustomContextMenu(QPoint pos);
-
-
-    private slots:
-
-        /// Add kitchen graph (H2T Armar3a robot kitchen)
-        void addKitchenGraph();
-
-        bool addNewEdge(const std::string& from, const std::string& to);
-        void addNewEdgeBoth();
-        void addNewEdgeStartEnd();
-        void addNewEdgeEndStart();
-
-        void addNewGraphVertex();
-        void editGraphVertex();
-#endif
-
-
     private:
 
         QSettings settings;

source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp

@@ -100,9 +100,15 @@ namespace armarx::nav::locgrapheditor
     }
 
 
-    void EdgeTableWidget::removeEdge(GuiGraph::Edge& edge)
+    void
+    EdgeTableWidget::removeEdge(GuiGraph::Edge& edge)
     {
-        this->removeRow(row(edge.attrib().tableWidgetItem));
+        if (currentItem() == edge.attrib().tableWidgetItem)
+        {
+            setCurrentItem(nullptr);
+        }
+
+        removeRow(row(edge.attrib().tableWidgetItem));
         edge.attrib().tableWidgetItem = nullptr;
     }
 
@@ -114,7 +120,8 @@ namespace armarx::nav::locgrapheditor
     }
 
 
-    void EdgeTableWidget::makeContextMenu(QPoint pos)
+    void
+    EdgeTableWidget::makeContextMenu(QPoint pos)
     {
         QList<QTableWidgetItem*> items = selectedEdgeItems();
 

source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/NewEntityIdDialog.cpp

+/*
+ * 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/>.
+ *
+ * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "NewEntityIdDialog.h"
+
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <QDialogButtonBox>
+#include <QGridLayout>
+#include <QLineEdit>
+#include <QLabel>
+#include <QPushButton>
+#include <QVBoxLayout>
+
+
+namespace armarx::nav::locgrapheditor
+{
+
+    NewEntityIdDialog::NewEntityIdDialog(const armem::MemoryID& coreSegmentID, QWidget* parent) :
+        QDialog(parent),
+        coreSegmentID(std::make_unique<armem::MemoryID>(coreSegmentID))
+    {
+        _providerSegmentName = new QLineEdit(this);
+        _entityName = new QLineEdit(this);
+
+        _buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok
+                                         | QDialogButtonBox::Cancel, this);
+
+        QLabel* instruction = new QLabel("Enter provider segment name and entity name for new entity:");
+        QFont font = instruction->font();
+        font.setBold(true);
+        instruction->setFont(font);
+
+
+        QGridLayout* grid = new QGridLayout();
+        int col = 0;
+
+        grid->addWidget(new QLabel("Core Segment ID"), 0, col);
+        grid->addWidget(new QLabel(QString::fromStdString(coreSegmentID.str()) + "/"), 1, col);
+        ++col;
+
+        grid->addWidget(new QLabel("Provider Segment Name"), 0, col);
+        grid->addWidget(_providerSegmentName, 1, col);
+        ++col;
+
+        grid->addWidget(new QLabel("/"), 1, col);
+        ++col;
+
+        grid->addWidget(new QLabel("Entity Name"), 0, col);
+        grid->addWidget(_entityName, 1, col);
+        ++col;
+
+
+        QVBoxLayout* layout = new QVBoxLayout();
+        setLayout(layout);
+        layout->addWidget(instruction);
+        layout->addLayout(grid);
+        layout->addWidget(_buttonBox);
+
+
+        connect(_buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
+        connect(_buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+
+        auto enableOkIfReady = [this]()
+        {
+            _buttonBox->button(QDialogButtonBox::Ok)
+                    ->setEnabled(_providerSegmentName->text().size() > 0 and _entityName->text().size() > 0);
+        };
+        connect(_providerSegmentName, &QLineEdit::textChanged, this, enableOkIfReady);
+        connect(_entityName, &QLineEdit::textChanged, this, enableOkIfReady);
+
+        enableOkIfReady();
+    }
+
+
+    NewEntityIdDialog::~NewEntityIdDialog()
+    {
+    }
+
+
+    QString NewEntityIdDialog::providerSegmentName() const
+    {
+        return _providerSegmentName->text();
+    }
+
+
+    QString NewEntityIdDialog::entityName() const
+    {
+        return _entityName->text();
+    }
+
+
+    armem::MemoryID NewEntityIdDialog::entityIDWithoutCoreSegmentID() const
+    {
+        armem::MemoryID id;
+        id.providerSegmentName = providerSegmentName().toStdString();
+        id.entityName = entityName().toStdString();
+        return id;
+    }
+
+    armem::MemoryID NewEntityIdDialog::entityID() const
+    {
+        armem::MemoryID entityID = entityIDWithoutCoreSegmentID();
+        ARMARX_CHECK_NOT_NULL(coreSegmentID);
+        entityID.setCoreSegmentID(*coreSegmentID);
+        return entityID;
+    }
+
+}

source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/NewEntityIdDialog.h

+/*
+ * 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/>.
+ *
+ * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+
+#include <QDialog>
+
+#include <memory>
+
+
+class QLineEdit;
+class QDialogButtonBox;
+
+
+namespace armarx::nav::locgrapheditor
+{
+    class NewEntityIdDialog : public QDialog
+    {
+    public:
+
+        NewEntityIdDialog(const armem::MemoryID& coreSegmentID, QWidget* parent = nullptr);
+        virtual ~NewEntityIdDialog() override;
+
+        QString providerSegmentName() const;
+        QString entityName() const;
+
+
+        armem::MemoryID entityIDWithoutCoreSegmentID() const;
+        armem::MemoryID entityID() const;
+
+
+    private:
+
+        QLineEdit* _providerSegmentName = nullptr;
+        QLineEdit* _entityName = nullptr;
+
+        QDialogButtonBox* _buttonBox = nullptr;
+
+
+        std::unique_ptr<armem::MemoryID> coreSegmentID;
+
+    };
+
+}

source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp

@@ -57,10 +57,8 @@ namespace armarx::nav::locgrapheditor
 
 
     QTableWidgetItem*
-    VertexTableWidget::addVertex(graph::Graph::ConstVertex vertex)
+    VertexTableWidget::addVertex()
     {
-        (void) vertex;
-
         // We need to disable sorting to prevent the new row from being moved away.
         setSortingEnabled(false);
 
@@ -142,12 +140,8 @@ namespace armarx::nav::locgrapheditor
             setCurrentItem(nullptr);
         }
 
-        const int numRows = rowCount();
-        int row = this->row(vertex.attrib().tableWidgetItem);
-        removeRow(row);
+        removeRow(row(vertex.attrib().tableWidgetItem));
         vertex.attrib().tableWidgetItem = nullptr;
-
-        ARMARX_CHECK_EQUAL(rowCount(), numRows - 1);
     }
 
 
@@ -158,20 +152,22 @@ namespace armarx::nav::locgrapheditor
     }
 
 
-    QString VertexTableWidget::_nameOf(QTableWidgetItem* item)
+    QString
+    VertexTableWidget::_nameOf(QTableWidgetItem* item)
     {
         return item->data(Qt::UserRole).toString();
     }
 
 
-    void VertexTableWidget::makeContextMenu(QPoint pos)
+    void
+    VertexTableWidget::makeContextMenu(QPoint pos)
     {
         QList<QTableWidgetItem*> items = selectedVertexItems();
 
         QMenu menu;
         if (items.size() == 0)
         {
-            QAction* action = menu.addAction("No locations selected");
+            QAction* action = menu.addSection("No locations selected");
             action->setEnabled(false);
         }
 
@@ -229,7 +225,7 @@ namespace armarx::nav::locgrapheditor
             using ListOfEdges = QList<QPair<Item*, Item*>>;
             using AppendFunc = std::function<void(ListOfEdges& edges, Item* selected, Item* action)>;
 
-            auto addBulkActions = [this, &items](QMenu* submenu, AppendFunc appendFunc)
+            auto addBulkAddEdgeActions = [this, &items](QMenu* submenu, AppendFunc appendFunc)
             {
                 if (items.size() == rowCount())
                 {
@@ -242,8 +238,8 @@ namespace armarx::nav::locgrapheditor
                     if (items.count(action) == 0)  // Do no generate self-edges
                     {
                         QAction* a = submenu->addAction(_nameOf(action));
-                        connect(a, &QAction::triggered,
-                                [this, &items, action, appendFunc]()
+                        connect(a, &QAction::triggered, this,
+                                [this, items, action, appendFunc]()
                         {
                             QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> edges;
                             for (auto* selected : items)
@@ -256,24 +252,52 @@ namespace armarx::nav::locgrapheditor
                 }
             };
 
-            addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowRight + " ..."),
+            addBulkAddEdgeActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowRight + " ..."),
                            [](ListOfEdges& edges, Item* selected, Item* action)
             {
                 edges.append({selected, action});
             });
-            addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowLeft + " ..."),
+            addBulkAddEdgeActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowLeft + " ..."),
                            [](ListOfEdges& edges, Item* selected, Item* action)
             {
                 edges.append({action, selected});
             });
-            addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowBoth + " ..."),
+            addBulkAddEdgeActions(menu.addMenu("Add " + edges + " " + desc + " " + utils::arrowBoth + " ..."),
                            [](ListOfEdges& edges, Item* selected, Item* action)
             {
                 edges.append({selected, action});
                 edges.append({action, selected});
             });
+
+
+            auto connectBulkRemoveEdgeAction = [this, &items](
+                    QAction* action, utils::EdgeDirection edgeDirection)
+            {
+                connect(action, &QAction::triggered, this, [this, items, edgeDirection]()
+                {
+                    emit edgeRemovalRequested(items, edgeDirection);
+                });
+            };
+
+            connectBulkRemoveEdgeAction(
+                        menu.addAction("Remove all edges " + utils::arrowRight + " " + desc),
+                        utils::EdgeDirection::To);
+            connectBulkRemoveEdgeAction(
+                        menu.addAction("Remove all edges " + utils::arrowLeft + " " + desc),
+                        utils::EdgeDirection::From);
+            connectBulkRemoveEdgeAction(
+                        menu.addAction("Remove all edges " + utils::arrowBoth + " " + desc),
+                        utils::EdgeDirection::Bidirectional);
         }
 
+
+        menu.addSection("Manage Locations");
+        connect(menu.addAction("Create new location ..."), &QAction::triggered, this,
+                [this]()
+        {
+            emit newVertexRequested();
+        });
+
         menu.exec(mapToGlobal(pos));
     }
 

source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h

@@ -30,9 +30,12 @@
 #include <QTableWidget>
 
 
+namespace armarx::nav::locgrapheditor::utils
+{
+    enum class EdgeDirection;
+}
 namespace armarx::nav::locgrapheditor
 {
-
     class VertexTableWidget : public QTableWidget
     {
         Q_OBJECT
@@ -44,7 +47,7 @@ namespace armarx::nav::locgrapheditor
         VertexTableWidget();
 
 
-        QTableWidgetItem* addVertex(graph::Graph::ConstVertex vertex);
+        QTableWidgetItem* addVertex();
 
         void updateVertex(GuiGraph::Vertex vertex);
 
@@ -56,7 +59,10 @@ namespace armarx::nav::locgrapheditor
 
     signals:
 
+        void newVertexRequested();
+
         void newEdgesRequested(QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> edges);
+        void edgeRemovalRequested(QList<QTableWidgetItem*> vertexItems, utils::EdgeDirection direction);
 
 
     public slots:

source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.cpp

@@ -37,6 +37,7 @@ namespace armarx::nav::locgrapheditor
     const QString utils::arrowBoth = QStringLiteral("\u21C4");
 
 
+
     QList<QTableWidgetItem*>
     utils::getSelectedItemsOfColumn(QTableWidget* widget, int column)
     {

source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/utils.h

@@ -22,6 +22,7 @@
 #pragma once
 
 #include <QList>
+#include <QString>
 
 class QTableWidget;
 class QTableWidgetItem;
@@ -30,9 +31,6 @@ class QTableWidgetItem;
 namespace armarx::nav::locgrapheditor::utils
 {
 
-    QList<QTableWidgetItem*> getSelectedItemsOfColumn(QTableWidget* widget, int column);
-
-
     /// <-
     extern const QString arrowLeft;
     /// ->
@@ -41,4 +39,12 @@ namespace armarx::nav::locgrapheditor::utils
     extern const QString arrowBoth;
 
 
+    enum class EdgeDirection
+    {
+        From, To, Bidirectional
+    };
+
+
+    QList<QTableWidgetItem*> getSelectedItemsOfColumn(QTableWidget* widget, int column);
+
 }