diff --git a/source/RobotAPI/gui-plugins/CMakeLists.txt b/source/RobotAPI/gui-plugins/CMakeLists.txt
index a7264e2efb9dec80834ffa301388c0bad7153801..311ff3c807afda29b6cbf0c8b80e7466c0063546 100644
--- a/source/RobotAPI/gui-plugins/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/CMakeLists.txt
@@ -11,4 +11,5 @@ add_subdirectory(RobotUnitPlugin)
add_subdirectory(HomogeneousMatrixCalculator)
add_subdirectory(GuiHealthClient)
-add_subdirectory(CartesianWaypointControlGui)
\ No newline at end of file
+add_subdirectory(CartesianWaypointControlGui)
+add_subdirectory(DebugDrawerGuiPlugin)
\ No newline at end of file
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc2da5ffec146fb2df2aa055ccd66fa3c0071738
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/CMakeLists.txt
@@ -0,0 +1,19 @@
+armarx_set_target("DebugDrawerGuiPluginGuiPlugin")
+armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
+
+set(SOURCES DebugDrawerGuiPluginGuiPlugin.cpp DebugDrawerGuiPluginWidgetController.cpp)
+set(HEADERS DebugDrawerGuiPluginGuiPlugin.h DebugDrawerGuiPluginWidgetController.h)
+
+set(GUI_MOC_HDRS ${HEADERS})
+set(GUI_UIS DebugDrawerGuiPluginWidget.ui)
+
+# Add more libraries you depend on here, e.g. ${QT_LIBRARIES}.
+set(COMPONENT_LIBS
+ DebugDrawer
+ RobotAPIInterfaces
+ SimpleConfigDialog
+)
+
+if(ArmarXGui_FOUND)
+ armarx_gui_library(DebugDrawerGuiPluginGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}")
+endif()
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginGuiPlugin.cpp b/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginGuiPlugin.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..cb25e8c75ea94d59c26c88d2e4e5bcf16b264163
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginGuiPlugin.cpp
@@ -0,0 +1,33 @@
+/*
+ * 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/>.
+ *
+ * \package RobotAPI::gui-plugins::DebugDrawerGuiPluginGuiPlugin
+ * \author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * \date 2019
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "DebugDrawerGuiPluginGuiPlugin.h"
+
+#include "DebugDrawerGuiPluginWidgetController.h"
+
+namespace armarx
+{
+ DebugDrawerGuiPluginGuiPlugin::DebugDrawerGuiPluginGuiPlugin()
+ {
+ addWidget < DebugDrawerGuiPluginWidgetController > ();
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginGuiPlugin.h b/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginGuiPlugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..762c61fc88303d0d627de2b37164ef9b9bd1e6b1
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginGuiPlugin.h
@@ -0,0 +1,50 @@
+/*
+ * 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/>.
+ *
+ * \package RobotAPI::gui-plugins::DebugDrawerGuiPlugin
+ * \author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * \date 2019
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+
+namespace armarx
+{
+ /**
+ * \class DebugDrawerGuiPluginGuiPlugin
+ * \ingroup ArmarXGuiPlugins
+ * \brief DebugDrawerGuiPluginGuiPlugin brief description
+ *
+ * Detailed description
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT DebugDrawerGuiPluginGuiPlugin:
+ public armarx::ArmarXGuiPlugin
+ {
+ Q_OBJECT
+ Q_INTERFACES(ArmarXGuiInterface)
+ Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
+ public:
+ /**
+ * All widgets exposed by this plugin are added in the constructor
+ * via calls to addWidget()
+ */
+ DebugDrawerGuiPluginGuiPlugin();
+ };
+}
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginWidget.ui b/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginWidget.ui
new file mode 100644
index 0000000000000000000000000000000000000000..3f0c005d6fff99611b8136ec6ca9b345f2b2a6b0
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginWidget.ui
@@ -0,0 +1,432 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DebugDrawerGuiPluginWidget</class>
+ <widget class="QWidget" name="DebugDrawerGuiPluginWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>400</width>
+ <height>300</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>DebugDrawerGuiPluginWidget</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="1">
+ <widget class="QComboBox" name="comboBoxLayer">
+ <item>
+ <property name="text">
+ <string>Debug</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item row="2" column="0" colspan="3">
+ <widget class="QTabWidget" name="tabWidget">
+ <property name="currentIndex">
+ <number>0</number>
+ </property>
+ <widget class="QWidget" name="tab">
+ <attribute name="title">
+ <string>Pose</string>
+ </attribute>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="1" column="3">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxPoseTY">
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>100.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_5">
+ <property name="text">
+ <string>Scale</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxPoseTX">
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>100.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="4">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxPoseRZ">
+ <property name="minimum">
+ <double>-360.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>360.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>3.600000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="5">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="3" column="3">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxPoseRY">
+ <property name="minimum">
+ <double>-360.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>360.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>3.600000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_2">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>XYZ</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>RPY [°]</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="2">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxPoseScale">
+ <property name="maximum">
+ <double>100.000000000000000</double>
+ </property>
+ <property name="value">
+ <double>1.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="4">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxPoseTZ">
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>100.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxPoseRX">
+ <property name="minimum">
+ <double>-360.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>360.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>3.600000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="2">
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>Name</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2" colspan="2">
+ <widget class="QLineEdit" name="lineEditPoseName">
+ <property name="text">
+ <string>Pose</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="4">
+ <widget class="QPushButton" name="pushButtonPoseDelete">
+ <property name="text">
+ <string>Delete</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab_2">
+ <attribute name="title">
+ <string>Arrow</string>
+ </attribute>
+ <layout class="QGridLayout" name="gridLayout_3">
+ <item row="2" column="1">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxArrowTX">
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>100.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxArrowClrG">
+ <property name="maximum">
+ <double>1.000000000000000</double>
+ </property>
+ <property name="value">
+ <double>1.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>From</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="3">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxArrowFZ">
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>100.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="4">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxArrowClrA">
+ <property name="maximum">
+ <double>1.000000000000000</double>
+ </property>
+ <property name="value">
+ <double>1.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxArrowClrR">
+ <property name="maximum">
+ <double>1.000000000000000</double>
+ </property>
+ <property name="value">
+ <double>1.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_8">
+ <property name="text">
+ <string>To</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxArrowFX">
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>100.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="3">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxArrowClrB">
+ <property name="maximum">
+ <double>1.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="5">
+ <spacer name="horizontalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="1" column="2">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxArrowFY">
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>100.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxArrowTY">
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>100.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <spacer name="verticalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="2" column="3">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxArrowTZ">
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>100.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_6">
+ <property name="text">
+ <string>Name</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxArrowWidth"/>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_9">
+ <property name="text">
+ <string>Width</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_10">
+ <property name="text">
+ <string>RGBA</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1" colspan="3">
+ <widget class="QLineEdit" name="lineEditArrowName">
+ <property name="text">
+ <string>Arrow</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="4">
+ <widget class="QPushButton" name="pushButtonArrowDelete">
+ <property name="text">
+ <string>Delete</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QPushButton" name="pushButtonLayerClear">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Clear</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Layer</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginWidgetController.cpp b/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginWidgetController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5aac5e0f7192f3d87fb9b9fd15fc9eadef546b9c
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginWidgetController.cpp
@@ -0,0 +1,178 @@
+/*
+ * 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/>.
+ *
+ * \package RobotAPI::gui-plugins::DebugDrawerGuiPluginWidgetController
+ * \author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * \date 2019
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <string>
+
+#include <Ice/UUID.h>
+
+#include <VirtualRobot/MathTools.h>
+
+#include <ArmarXCore/util/CPPUtility/trace.h>
+
+#include "DebugDrawerGuiPluginWidgetController.h"
+
+namespace armarx
+{
+ DebugDrawerGuiPluginWidgetController::DebugDrawerGuiPluginWidgetController():
+ _layerName{Ice::generateUUID()},
+ _debugDrawer{_layerName}
+ {
+ ARMARX_TRACE;
+ _ui.setupUi(getWidget());
+ connect(_ui.pushButtonLayerClear, SIGNAL(clicked()), this, SLOT(on_pushButtonLayerClear_clicked()));
+ connect(_ui.pushButtonPoseDelete, SIGNAL(clicked()), this, SLOT(on_pushButtonPoseDelete_clicked()));
+ connect(_ui.pushButtonArrowDelete, SIGNAL(clicked()), this, SLOT(on_pushButtonArrowDelete_clicked()));
+
+ connect(_ui.doubleSpinBoxPoseTX, SIGNAL(valueChanged(double)), this, SLOT(updatePose()));
+ connect(_ui.doubleSpinBoxPoseTY, SIGNAL(valueChanged(double)), this, SLOT(updatePose()));
+ connect(_ui.doubleSpinBoxPoseTZ, SIGNAL(valueChanged(double)), this, SLOT(updatePose()));
+ connect(_ui.doubleSpinBoxPoseRX, SIGNAL(valueChanged(double)), this, SLOT(updatePose()));
+ connect(_ui.doubleSpinBoxPoseRY, SIGNAL(valueChanged(double)), this, SLOT(updatePose()));
+ connect(_ui.doubleSpinBoxPoseRZ, SIGNAL(valueChanged(double)), this, SLOT(updatePose()));
+ connect(_ui.doubleSpinBoxPoseScale, SIGNAL(valueChanged(double)), this, SLOT(updatePose()));
+
+ connect(_ui.doubleSpinBoxArrowFX, SIGNAL(valueChanged(double)), this, SLOT(updateArrow()));
+ connect(_ui.doubleSpinBoxArrowFY, SIGNAL(valueChanged(double)), this, SLOT(updateArrow()));
+ connect(_ui.doubleSpinBoxArrowFZ, SIGNAL(valueChanged(double)), this, SLOT(updateArrow()));
+ connect(_ui.doubleSpinBoxArrowTX, SIGNAL(valueChanged(double)), this, SLOT(updateArrow()));
+ connect(_ui.doubleSpinBoxArrowTY, SIGNAL(valueChanged(double)), this, SLOT(updateArrow()));
+ connect(_ui.doubleSpinBoxArrowTZ, SIGNAL(valueChanged(double)), this, SLOT(updateArrow()));
+ connect(_ui.doubleSpinBoxArrowClrR, SIGNAL(valueChanged(double)), this, SLOT(updateArrow()));
+ connect(_ui.doubleSpinBoxArrowClrG, SIGNAL(valueChanged(double)), this, SLOT(updateArrow()));
+ connect(_ui.doubleSpinBoxArrowClrB, SIGNAL(valueChanged(double)), this, SLOT(updateArrow()));
+ connect(_ui.doubleSpinBoxArrowClrA, SIGNAL(valueChanged(double)), this, SLOT(updateArrow()));
+ connect(_ui.doubleSpinBoxArrowWidth, SIGNAL(valueChanged(double)), this, SLOT(updateArrow()));
+ }
+
+
+ DebugDrawerGuiPluginWidgetController::~DebugDrawerGuiPluginWidgetController()
+ {
+
+ }
+
+
+ void DebugDrawerGuiPluginWidgetController::loadSettings(QSettings* settings)
+ {
+ }
+
+ void DebugDrawerGuiPluginWidgetController::saveSettings(QSettings* settings)
+ {
+ }
+
+
+ void DebugDrawerGuiPluginWidgetController::onInitComponent()
+ {
+ ARMARX_TRACE;
+ offeringTopic(_debugDrawerTopicName);
+ }
+
+
+ void DebugDrawerGuiPluginWidgetController::onConnectComponent()
+ {
+ ARMARX_TRACE;
+ _debugDrawer.setDebugDrawer(getTopic<DebugDrawerInterfacePrx>(_debugDrawerTopicName));
+ }
+
+ void DebugDrawerGuiPluginWidgetController::onDisconnectComponent()
+ {
+ _debugDrawer.clearLayer();
+ }
+
+ void DebugDrawerGuiPluginWidgetController::on_pushButtonArrowDelete_clicked()
+ {
+ const auto name = _ui.lineEditArrowName->text().toStdString();
+ ARMARX_INFO << "Delete arrow " << name;
+ _debugDrawer.getDebugDrawer()->removePoseVisu(_layerName, name);
+ }
+
+ void DebugDrawerGuiPluginWidgetController::on_pushButtonPoseDelete_clicked()
+ {
+ const auto name = _ui.lineEditPoseName->text().toStdString();
+ ARMARX_INFO << "Delete pose " << name;
+ _debugDrawer.getDebugDrawer()->removePoseVisu(_layerName, name);
+ }
+
+ void DebugDrawerGuiPluginWidgetController::on_pushButtonLayerClear_clicked()
+ {
+ _debugDrawer.clearLayer();
+ }
+
+ void DebugDrawerGuiPluginWidgetController::updatePose()
+ {
+ const auto name = _ui.lineEditPoseName->text().toStdString();
+ ARMARX_INFO << "Updated pose " << name;
+
+ const float deg2rad = M_PI / 360;
+
+ _debugDrawer.drawPose(
+ name,
+ VirtualRobot::MathTools::posrpy2eigen4f(
+ _ui.doubleSpinBoxPoseTX->value(),
+ _ui.doubleSpinBoxPoseTY->value(),
+ _ui.doubleSpinBoxPoseTZ->value(),
+ _ui.doubleSpinBoxPoseRX->value() * deg2rad,
+ _ui.doubleSpinBoxPoseRY->value() * deg2rad,
+ _ui.doubleSpinBoxPoseRZ->value() * deg2rad
+ ),
+ _ui.doubleSpinBoxPoseScale->value());
+ }
+
+ void DebugDrawerGuiPluginWidgetController::updateArrow()
+ {
+ const Eigen::Vector3f from
+ {
+ static_cast<float>(_ui.doubleSpinBoxArrowFX->value()),
+ static_cast<float>(_ui.doubleSpinBoxArrowFY->value()),
+ static_cast<float>(_ui.doubleSpinBoxArrowFZ->value())
+ };
+
+ const Eigen::Vector3f to
+ {
+ static_cast<float>(_ui.doubleSpinBoxArrowTX->value()),
+ static_cast<float>(_ui.doubleSpinBoxArrowTY->value()),
+ static_cast<float>(_ui.doubleSpinBoxArrowTZ->value())
+ };
+
+ const Eigen::Vector3f dir = to - from;
+
+ const float len = dir.norm();
+
+ const auto name = _ui.lineEditArrowName->text().toStdString();
+ ARMARX_INFO << "Updated arrow " << name;
+
+ _debugDrawer.drawArrow(
+ name,
+ from,
+ dir.normalized(),
+ {
+ static_cast<float>(_ui.doubleSpinBoxArrowClrR->value()),
+ static_cast<float>(_ui.doubleSpinBoxArrowClrG->value()),
+ static_cast<float>(_ui.doubleSpinBoxArrowClrB->value()),
+ static_cast<float>(_ui.doubleSpinBoxArrowClrA->value())
+ },
+ len,
+ static_cast<float>(_ui.doubleSpinBoxArrowWidth->value()));
+ }
+}
+
+
+
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginWidgetController.h b/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginWidgetController.h
new file mode 100644
index 0000000000000000000000000000000000000000..0e94de05075e4ec5074068cb46733a59d3df99b2
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/DebugDrawerGuiPlugin/DebugDrawerGuiPluginWidgetController.h
@@ -0,0 +1,106 @@
+/*
+ * 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/>.
+ *
+ * @package RobotAPI::gui-plugins::DebugDrawerGuiPluginWidgetController
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2019
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <RobotAPI/gui-plugins/DebugDrawerGuiPlugin/ui_DebugDrawerGuiPluginWidget.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+#include <RobotAPI/components/DebugDrawer/DebugDrawerHelper.h>
+
+namespace armarx
+{
+ /**
+ \page RobotAPI-GuiPlugins-DebugDrawerGuiPlugin DebugDrawerGuiPlugin
+ \brief The DebugDrawerGuiPlugin allows visualizing ...
+
+ \image html DebugDrawerGuiPlugin.png
+ The user can
+
+ API Documentation \ref DebugDrawerGuiPluginWidgetController
+
+ \see DebugDrawerGuiPluginGuiPlugin
+ */
+
+ /**
+ * \class DebugDrawerGuiPluginWidgetController
+ * \brief DebugDrawerGuiPluginWidgetController brief one line description
+ *
+ * Detailed description
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT
+ DebugDrawerGuiPluginWidgetController:
+ public armarx::ArmarXComponentWidgetControllerTemplate < DebugDrawerGuiPluginWidgetController >
+ {
+ Q_OBJECT
+
+ public:
+ explicit DebugDrawerGuiPluginWidgetController();
+ virtual ~DebugDrawerGuiPluginWidgetController();
+
+ void loadSettings(QSettings* settings) override;
+ void saveSettings(QSettings* settings) override;
+
+ /**
+ * Returns the Widget name displayed in the ArmarXGui to create an
+ * instance of this class.
+ */
+ static QString GetWidgetName()
+ {
+ return "Visualization.DebugDrawerGuiPlugin";
+ }
+
+ void onInitComponent() override;
+ void onConnectComponent() override;
+ void onDisconnectComponent() override;
+
+ // QPointer<QDialog> getConfigDialog(QWidget* parent) override;
+ // void configured() override;
+
+ private slots:
+ void on_pushButtonLayerClear_clicked();
+ void on_pushButtonPoseDelete_clicked();
+ void on_pushButtonArrowDelete_clicked();
+ void updateArrow();
+ void updatePose();
+
+ private:
+ /**
+ * Widget Form
+ */
+ Ui::DebugDrawerGuiPluginWidget _ui;
+
+ std::string _layerName;
+
+ std::string _debugDrawerTopicName{"DebugDrawerUpdates"};
+ DebugDrawerHelper _debugDrawer;
+
+ QPointer<SimpleConfigDialog> _dialog;
+
+ };
+}
+
+