Add context menu to switch between Ik methods

Signed-off-by: Rainer Kartmann <rainer.kartmann@kit.edu>

source/RobotAPI/components/ik_demo/IkDemo.cpp

 #include "IkDemo.h"
 
 #include <SimoxUtility/algorithm/string.h>
+#include <SimoxUtility/meta/EnumNames.hpp>
 #include <SimoxUtility/math/pose/invert.h>
 
 #include <VirtualRobot/Robot.h>
@@ -29,6 +30,11 @@ namespace armar6::skills::components::armar6_ik_demo
         SimpleDiffIk,
         CompositeDiffIk,
     };
+    const simox::meta::EnumNames<IkMethod> IkMethodNames =
+    {
+        { IkMethod::SimpleDiffIk, "Simple Diff IK" },
+        { IkMethod::CompositeDiffIk, "Composite Diff IK" },
+    };
 
     struct Manipulator
     {
@@ -40,7 +46,7 @@ namespace armar6::skills::components::armar6_ik_demo
         {
         }
 
-        bool handle(viz::InteractionFeedback const& interaction, viz::StagedCommit* stage)
+        virtual bool handle(viz::InteractionFeedback const& interaction, viz::StagedCommit* stage)
         {
             bool updated = false;
             if (interaction.layer() == gizmo.layer.data_.name)
@@ -53,7 +59,6 @@ namespace armar6::skills::components::armar6_ik_demo
         virtual void visualize(viz::Client& arviz) = 0;
         virtual void runIk(IkDemo::Robot& robot) = 0;
 
-
         viz::PoseGizmo gizmo;
     };
 
@@ -62,7 +67,15 @@ namespace armar6::skills::components::armar6_ik_demo
     {
         TcpManipulator()
         {
-            gizmo.box.size({75, 100, 200});
+            std::vector<std::string> options;
+            for (IkMethod method : IkMethodNames.values())
+            {
+                options.push_back("Use " + IkMethodNames.to_name(method));
+            }
+            gizmo.box
+                    .size({75, 100, 200})
+                    .enable(viz::interaction().selection().transform().hideDuringTransform()
+                            .contextMenu(options));
         };
 
         void visualize(viz::Client& arviz) override
@@ -70,6 +83,38 @@ namespace armar6::skills::components::armar6_ik_demo
             gizmo.setLayer(arviz.layer(tcp->getName()));
             gizmo.update();
         }
+
+        bool handle(viz::InteractionFeedback const& interaction, viz::StagedCommit* stage) override
+        {
+            bool updated = Manipulator::handle(interaction, stage);
+
+            if (interaction.layer() == gizmo.layer.data_.name)
+            {
+                switch (interaction.type())
+                {
+                case viz::InteractionFeedbackType::ContextMenuChosen:
+                {
+                    int i = 0;
+                    for (IkMethod method : IkMethodNames.values())
+                    {
+                        if (i == interaction.chosenContextMenuEntry())
+                        {
+                            this->method = method;
+                            updated |= true;
+                            ARMARX_IMPORTANT << "[" << tcp->getName() << "] Using " << IkMethodNames.to_name(method);
+                            break;
+                        }
+                        ++i;
+                    }
+                } break;
+                default:
+                    break;
+                }
+            }
+
+            return updated;
+        }
+
         void runIk(IkDemo::Robot& robot) override
         {
             const Eigen::Matrix4f tcpPoseInRobotFrame =
@@ -230,7 +275,7 @@ namespace armar6::skills::components::armar6_ik_demo
         VirtualRobot::RobotNodeSetPtr nodeSet;
         VirtualRobot::RobotNodePtr tcp;
 
-        IkMethod method = IkMethod::CompositeDiffIk;
+        IkMethod method = IkMethod::SimpleDiffIk;
     };
 
 

source/RobotAPI/components/ik_demo/PoseGizmo.cpp

@@ -9,7 +9,7 @@ namespace armarx::viz
 
     PoseGizmo::PoseGizmo()
     {
-        box.enable(viz::interaction().selection().transform());
+        box.enable(viz::interaction().selection().transform().hideDuringTransform());
     }
 
     void PoseGizmo::setLayer(const Layer& layer_)