Gui now displays calculation error of IKSolver

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

@@ -150,6 +150,9 @@ void armarx::RobotIKWidgetController::onDisconnectComponent()
     this->ui.reachableLabel->setEnabled(false);
     this->ui.reachableLabel->setText(QString::fromStdString("No kinematic chain selected"));
     this->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
+    this->ui.errorValue->setEnabled(false);
+    this->ui.errorValue->setText(QString::fromStdString("Calculated error: 0"));
+    this->ui.errorValue->setEnabled(false);
     this->ui.pushButton->setEnabled(false);
     this->ui.currentPose->setEnabled(false);
     this->ui.currentPoseMatrix->setEnabled(false);
@@ -238,6 +241,8 @@ void armarx::RobotIKWidgetController::kinematicChainChanged(const QString &arg1)
     this->ui.reachableLabel->setEnabled(true);
     this->ui.reachableLabel->setText(QString::fromStdString("Pose reachable!"));
     this->ui.reachableLabel->setStyleSheet("QLabel { color : green; }");
+    this->ui.errorValue->setText(QString::fromStdString("Calculated error: 0"));
+    this->ui.errorValue->setEnabled(true);
     this->ui.pushButton->setEnabled(true);
     this->ui.currentPose->setEnabled(true);
     this->ui.currentPoseMatrix->setEnabled(true);
@@ -389,6 +394,9 @@ void armarx::RobotIKWidgetController::manipFinishCallback(void* data, SoDragger*
         controller->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
         controller->ui.pushButton->setEnabled(false);
     }
+
+    //Display calculated error
+    controller->ui.errorValue->setText(QString::fromStdString("Calculated error: " + boost::lexical_cast<std::string>(targetJointAngles.error)));
 }
 
 void armarx::RobotIKWidgetController::robotUpdateTimerCB(void *data, SoSensor *sensor)

source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.ui

@@ -117,6 +117,33 @@
          </property>
         </widget>
        </item>
+       <item>
+        <widget class="QLabel" name="errorValue">
+         <property name="enabled">
+          <bool>false</bool>
+         </property>
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="font">
+          <font>
+           <pointsize>15</pointsize>
+          </font>
+         </property>
+         <property name="text">
+          <string>Calculated error: 0</string>
+         </property>
+         <property name="textFormat">
+          <enum>Qt::AutoText</enum>
+         </property>
+         <property name="scaledContents">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
        <item>
         <widget class="QPushButton" name="pushButton">
          <property name="enabled">