HeadIK: Make head target visualization optional

source/RobotAPI/components/units/HeadIKUnit.cpp

@@ -121,7 +121,7 @@ namespace armarx
         this->targetPosition->frame = targetPosition->frame;
         FramedPositionPtr globalTarget = FramedPositionPtr::dynamicCast(targetPosition)->toGlobal(robotStateComponentPrx->getSynchronizedRobot());
 
-        if (drawer)
+        if (drawer && getProperty<bool>("VisualizeIKTarget").getValue())
         {
             drawer->setSphereDebugLayerVisu("HeadViewTarget",
                                             globalTarget,
@@ -295,7 +295,7 @@ namespace armarx
 
             ARMARX_DEBUG << "Solution found";
 
-            if (drawer && localRobot->hasRobotNode("Cameras"))
+            if (drawer && localRobot->hasRobotNode("Cameras") && getProperty<bool>("VisualizeIKTarget").getValue())
             {
                 Vector3Ptr startPos = new Vector3(localRobot->getRobotNode("Cameras")->getGlobalPose());
                 drawer->setSphereDebugLayerVisu("HeadViewTargetSolution",

source/RobotAPI/components/units/HeadIKUnit.h

@@ -50,6 +50,7 @@ namespace armarx
             defineOptionalProperty<std::string>("RobotStateTopicName", "RobotState", "Name of the RobotComponent State topic.");
             defineOptionalProperty<std::string>("HeadIKUnitTopicName", "HeadIKUnitTopic",  "Name of the HeadIKUnit Topic");
             defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
+            defineOptionalProperty<bool>("VisualizeIKTarget", true, "Visualize the current IK target using the debug drawer");
             defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
         }
     };