Add reset operation for all elements

source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp

@@ -111,20 +111,41 @@ namespace armarx
         {
             bool isChanged = changed.find(objectPose.objectID.str()) != changed.end();
 
+            float alpha = isChanged ? 1.0 / 2 : 1.0;
+
+            viz::InteractionDescription interaction = viz::interaction().selection().transform().hideDuringTransform();
+            if (isChanged)
+            {
+                interaction.contextMenu({"Reset"});
+            }
+
             observer.addObserved(
                             memoryLayer,
                             viz::Object(objectPose.objectID.str())
                                     .pose(objectPose.objectPoseGlobal)
                                     .fileByObjectFinder(objectPose.objectID)
-                                    .alpha(isChanged ? 0.5 : 1.0)
-                                    .enable(viz::interaction()
-                                                    .selection()
-                                                    .transform()
-                                                    .hideDuringTransform()))
+                                    .alpha(alpha)
+                                    .enable(interaction))
+                    .onContextMenu(0, [&]
+                                    {
+                                        auto iterator = changed.find(objectPose.objectID.str());
+                                        if (iterator != changed.end())
+                                        {
+                                            Change change = iterator->second;
+                                            changed.erase(iterator);
+                                            objectPose.objectPoseGlobal = change.originalPose;
+
+                                            isMemoryVizRequired = true;
+                                        }
+                                    })
                     .onTransformEnd([&](const Eigen::Matrix4f& transform)
                                     {
+                                        Change change = {.originalPose = objectPose.objectPoseGlobal};
                                         objectPose.objectPoseGlobal = transform * objectPose.objectPoseGlobal;
-                                        changed.emplace(objectPose.objectID.str());
+
+                                        // Emplace does not override when entry already exists in map.
+                                        changed.emplace(objectPose.objectID.str(), change);
+
                                         isMemoryVizRequired = true;
                                     });
         }
@@ -132,13 +153,15 @@ namespace armarx
 
     void Editor::visualizeMeta()
     {
+        const float size = 1000;
+
         observer.clearObservedLayer(metaLayer);
 
         observer.addObserved(
                 metaLayer,
                 viz::Box("meta")
                 .pose(metaCubePose)
-                .size(1000)
+                .size(size)
                 .color(simox::color::Color(1.0, 0.0, 0.0))
                 .enable(viz::interaction()
                     .selection()

source/RobotAPI/components/InteractiveMemoryEditor/Editor.h

@@ -30,8 +30,13 @@ namespace armarx
 
         InteractionObserver observer;
 
+        struct Change
+        {
+            Eigen::Matrix4f originalPose;
+        };
+
         objpose::ObjectPoseSeq requestedPoses;
-        std::set<std::string> changed;
+        std::map<std::string, Change> changed;
 
         bool isPushRequired;
         bool isPullRequired;