Added options what to take into account when solving ik, for example...

Added options what to take into account when solving ik, for example orientation, position, X, Y,...

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

@@ -130,6 +130,18 @@ void armarx::RobotIKWidgetController::onConnectComponent()
     //Make sure comboBox is enabled so you can select a kinematic chain
     this->ui.comboBox->setEnabled(true);
 
+    //Get all caertesian selections and add them
+    this->ui.cartesianselection->addItem(QString::fromStdString("Orientation and Position"));
+    this->ui.cartesianselection->addItem(QString::fromStdString("Position"));
+    this->ui.cartesianselection->addItem(QString::fromStdString("Orientation"));
+    this->ui.cartesianselection->addItem(QString::fromStdString("X position"));
+    this->ui.cartesianselection->addItem(QString::fromStdString("Y position"));
+    this->ui.cartesianselection->addItem(QString::fromStdString("Z position"));
+
+    //Make sure it is enabled
+    this->ui.cartesianselection->setEnabled(true);
+    this->ui.cartesianselection->setCurrentIndex(0);
+
     connectSlots();
     enableMainWidgetAsync(true);
 }
@@ -319,6 +331,14 @@ void armarx::RobotIKWidgetController::kinematicChainChanged(const QString &arg1)
     tcpManip->rotation.setValue(SbRotation(VirtualRobot::CoinVisualizationFactory::getSbMatrix(mat)));*/
 }
 
+void armarx::RobotIKWidgetController::caertesianSelectionChanged(const QString &arg1)
+{
+    //If there is a manip in the scene we pretend it just moved to update color etc.
+    if(tcpManip) {
+        manipFinishCallback(this, NULL);
+    }
+}
+
 void armarx::RobotIKWidgetController::resetManip()
 {
     //Triggers reset of manipulator in kinematicChainChanged
@@ -330,6 +350,7 @@ void armarx::RobotIKWidgetController::connectSlots()
     connect(ui.resetManip, SIGNAL(clicked()), this, SLOT(resetManip()), Qt::QueuedConnection);
     connect(ui.pushButton, SIGNAL(clicked()), this, SLOT(solveIK()), Qt::QueuedConnection);
     connect(ui.comboBox, SIGNAL(currentIndexChanged(QString)), this, SLOT(kinematicChainChanged(QString)), Qt::UniqueConnection);
+    connect(ui.cartesianselection, SIGNAL(currentIndexChanged(QString)), this, SLOT(caertesianSelectionChanged(QString)), Qt::UniqueConnection);
 }
 
 armarx::StringList armarx::RobotIKWidgetController::getIncludePaths()
@@ -518,8 +539,31 @@ armarx::ExtendedIKResult armarx::RobotIKWidgetController::getIKSolution()
     mat (3,3) = matrix[3][3];
 
 //    mat = robot->getRootNode()->toLocalCoordinateSystem(mat);
-    return(robotIKPrx->computeExtendedIKGlobalPose(this->ui.comboBox->currentText().toStdString(),
-                                                                              new armarx::Pose(mat), eAll));
+    return(robotIKPrx->computeExtendedIKGlobalPose(this->ui.comboBox->currentText().toStdString(),new armarx::Pose(mat),
+                                                   convertOption(this->ui.cartesianselection->currentText().toStdString())));
+}
+
+armarx::CartesianSelection armarx::RobotIKWidgetController::convertOption(std::string option)
+{
+    if(option == "Orientation and Position") {
+        return eAll;
+    }
+    else if(option == "Position") {
+        return ePosition;
+    }
+    else if(option == "Orientation") {
+        return eOrientation;
+    }
+    else if(option == "X position") {
+        return eX;
+    }
+    else if(option == "Y position") {
+        return eY;
+    }
+    else if(option == "Z position") {
+        return eZ;
+    }
+    return eAll;
 }
 
 Q_EXPORT_PLUGIN2(armarx_gui_RobotIKGuiPlugin, armarx::RobotIKGuiPlugin)

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

@@ -91,6 +91,7 @@ namespace armarx
         public slots:
             void solveIK();
             void kinematicChainChanged(const QString &arg1);
+            void caertesianSelectionChanged(const QString &arg1);
             void resetManip();
 
         protected:
@@ -133,6 +134,8 @@ namespace armarx
 
             ExtendedIKResult getIKSolution();
 
+            CartesianSelection convertOption(std::string option);
+
             bool startUpCameraPositioningFlag;
 
     };

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

@@ -55,6 +55,32 @@
        <item>
         <widget class="QComboBox" name="comboBox"/>
        </item>
+       <item>
+        <widget class="QLabel" name="caertesianselectionlabel">
+         <property name="enabled">
+          <bool>true</bool>
+         </property>
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>Select what to take into account when solving IK:</string>
+         </property>
+         <property name="scaledContents">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QComboBox" name="cartesianselection">
+         <property name="enabled">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
        <item>
         <spacer name="verticalSpacer">
          <property name="orientation">