From 9bd19328ca0fa00bc75ddc5c8bdc26e922526232 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Stefan=20Tr=C3=B6ger?= <stefantroeger@gmx.net>
Date: Fri, 17 Jan 2014 19:27:49 +0100
Subject: [PATCH] multiple debug updates

---
 src/Mod/Assembly/App/ItemAssembly.cpp         |  25 +-
 src/Mod/Assembly/App/ItemAssembly.h           |   2 +
 src/Mod/Assembly/App/Solver/Solver.h          | 411 +++++++++++-------
 .../App/opendcm/core/clustergraph.hpp         |   3 +-
 .../Assembly/App/opendcm/core/geometry.hpp    |   8 +-
 .../App/opendcm/core/imp/clustergraph_imp.hpp |  54 ++-
 .../App/opendcm/core/imp/geometry_imp.hpp     |  10 +-
 .../App/opendcm/core/imp/kernel_imp.hpp       |  71 +--
 .../opendcm/core/imp/transformation_imp.hpp   |  20 +
 src/Mod/Assembly/App/opendcm/core/kernel.hpp  |  15 +-
 src/Mod/Assembly/App/opendcm/core/logging.hpp |  14 +-
 src/Mod/Assembly/App/opendcm/core/system.hpp  |   7 +
 .../App/opendcm/core/transformation.hpp       |   4 +
 .../App/opendcm/module3d/clustermath.hpp      |   9 +-
 .../App/opendcm/module3d/distance.hpp         |  26 +-
 .../App/opendcm/module3d/geometry.hpp         |   5 +
 .../opendcm/module3d/imp/clustermath_imp.hpp  |  33 +-
 .../App/opendcm/module3d/imp/solver_imp.hpp   |  22 +-
 .../App/opendcm/module3d/imp/state_imp.hpp    |  61 +++
 .../Assembly/App/opendcm/module3d/solver.hpp  |   2 +-
 .../Assembly/App/opendcm/module3d/state.hpp   |  21 +
 .../App/opendcm/modulePart/module.hpp         |   6 +-
 .../App/opendcm/moduleShape3d/distance.hpp    |  10 +-
 .../moduleState/imp/property_parser_imp.hpp   |   2 +-
 .../Assembly/Gui/TaskAssemblyConstraints.ui   |  34 +-
 src/Mod/Assembly/Gui/ViewProviderPart.cpp     | 154 ++++++-
 src/Mod/Assembly/Gui/ViewProviderPart.h       |  18 +-
 27 files changed, 742 insertions(+), 305 deletions(-)

diff --git a/src/Mod/Assembly/App/ItemAssembly.cpp b/src/Mod/Assembly/App/ItemAssembly.cpp
index 5cefa44a9..121f64a58 100644
--- a/src/Mod/Assembly/App/ItemAssembly.cpp
+++ b/src/Mod/Assembly/App/ItemAssembly.cpp
@@ -53,6 +53,16 @@ ItemAssembly::ItemAssembly() {
     ADD_PROPERTY(ApplyAtFailure,(false));
     ADD_PROPERTY(Precision,(1e-6));
     ADD_PROPERTY(SaveState,(false));
+    ADD_PROPERTY(Iterations,(5e3));
+    ADD_PROPERTY(LogLevel, (long(1)));
+
+    std::vector<std::string> vec;
+    vec.push_back("iteration");
+    vec.push_back("solving");
+    vec.push_back("manipulation");
+    vec.push_back("information");
+    vec.push_back("error");
+    LogLevel.setEnumVector(vec);
 #endif
 }
 
@@ -71,6 +81,7 @@ App::DocumentObjectExecReturn* ItemAssembly::execute(void) {
         m_downstream_placement = Base::Placement(Base::Vector3<double>(0,0,0), Base::Rotation());
         Base::Placement dummy;
         initSolver(boost::shared_ptr<Solver>(), dummy, false);
+        initConstraints(boost::shared_ptr<Solver>());
 
 #ifdef ASSEMBLY_DEBUG_FACILITIES
 
@@ -80,6 +91,7 @@ App::DocumentObjectExecReturn* ItemAssembly::execute(void) {
             m_solver->setOption<dcm::solverfailure>(dcm::IgnoreResults);
 
         m_solver->setOption<dcm::precision>(Precision.getValue());
+        m_solver->setOption<dcm::iterations>(Iterations.getValue());
 
         if(SaveState.getValue()) {
 
@@ -88,8 +100,10 @@ App::DocumentObjectExecReturn* ItemAssembly::execute(void) {
             m_solver->saveState(myfile);
             myfile.close();
         };
+
+        m_solver->setLoggingFilter(dcm::severity >= (dcm::severity_level)LogLevel.getValue());
+
 #endif
-        initConstraints(boost::shared_ptr<Solver>());
 
         //solve the system
         m_solver->solve();
@@ -109,6 +123,12 @@ App::DocumentObjectExecReturn* ItemAssembly::execute(void) {
         //throw Base::Exception(message.str().c_str());
         Base::Console().Error(message.str().c_str());
     }
+    catch(Standard_ConstructionError& e) {
+        message.clear();
+        message << "Construction Error raised in assembly solver during execution: ";
+	message << e.GetMessageString()<< std::endl;
+	Base::Console().Error(message.str().c_str());
+    }
     catch
         (...) {
         message.clear();
@@ -321,3 +341,6 @@ void ItemAssembly::finish(boost::shared_ptr<Solver> subsystem) {
 };
 
 } //assembly
+
+
+
diff --git a/src/Mod/Assembly/App/ItemAssembly.h b/src/Mod/Assembly/App/ItemAssembly.h
index fcea7a64e..7d380ea50 100644
--- a/src/Mod/Assembly/App/ItemAssembly.h
+++ b/src/Mod/Assembly/App/ItemAssembly.h
@@ -88,6 +88,8 @@ public:
     App::PropertyBool  ApplyAtFailure;
     App::PropertyFloat Precision;
     App::PropertyBool  SaveState;
+    App::PropertyInteger  Iterations;
+    App::PropertyEnumeration  LogLevel;
 #endif
     
 private:
diff --git a/src/Mod/Assembly/App/Solver/Solver.h b/src/Mod/Assembly/App/Solver/Solver.h
index 304d663c8..c40249eda 100644
--- a/src/Mod/Assembly/App/Solver/Solver.h
+++ b/src/Mod/Assembly/App/Solver/Solver.h
@@ -30,14 +30,15 @@
 #include "PreCompiled.h"
 
 #include "opendcm/core.hpp"
-#include "opendcm/module3d.hpp"
-#include "opendcm/modulepart.hpp"
 
 #ifdef ASSEMBLY_DEBUG_FACILITIES
 #include "opendcm/modulestate.hpp"
 #endif
+#include "opendcm/module3d.hpp"
+#include "opendcm/modulepart.hpp"
 
 #include <Base/Placement.h>
+#include <Base/Console.h>
 
 #include <gp_Pnt.hxx>
 #include <gp_Lin.hxx>
@@ -49,182 +50,240 @@ struct gp_pnt_accessor {
     template<typename Scalar, int ID, typename T>
     Scalar get(T& t) {
         switch(ID) {
-            case 0:
-                return t.X();
-            case 1:
-                return t.Y();
-            case 2:
-                return t.Z();
-            default:
-                return 0;
+        case 0:
+            return t.X();
+
+        case 1:
+            return t.Y();
+
+        case 2:
+            return t.Z();
+
+        default:
+            return 0;
         };
     };
     template<typename Scalar, int ID, typename T>
     void set(Scalar value, T& t) {
         switch(ID) {
-            case 0:
-                t.SetX(value);
-                break;
-            case 1:
-                t.SetY(value);
-                break;
-            case 2:
-                t.SetZ(value);
-                break;
+        case 0:
+            t.SetX(value);
+            break;
+
+        case 1:
+            t.SetY(value);
+            break;
+
+        case 2:
+            t.SetZ(value);
+            break;
         };
     };
+    template<typename T>
+    void finalize(T& t) {};
 };
 
 struct gp_lin_accessor {
 
+    gp_Pnt pnt;
+    double dx,dy,dz;
+
     template<typename Scalar, int ID, typename T>
     Scalar get(T& t) {
         switch(ID) {
-            case 0:
-                return t.Location().X();
-            case 1:
-                return t.Location().Y();
-            case 2:
-                return t.Location().Z();
-            case 3:
-                return t.Direction().X();
-            case 4:
-                return t.Direction().Y();
-            case 5:
-                return t.Direction().Z();
-            default:
-                return 0;
+        case 0:
+            return t.Location().X();
+
+        case 1:
+            return t.Location().Y();
+
+        case 2:
+            return t.Location().Z();
+
+        case 3:
+            return t.Direction().X();
+
+        case 4:
+            return t.Direction().Y();
+
+        case 5:
+            return t.Direction().Z();
+
+        default:
+            return 0;
         };
     };
     template<typename Scalar, int ID, typename T>
     void set(Scalar value, T& t) {
-        gp_Pnt p = t.Location();
-        gp_Dir d = t.Direction();
+
         switch(ID) {
-            case 0:
-                p.SetX(value);
-                break;
-            case 1:
-                p.SetY(value);
-                break;
-            case 2:
-                p.SetZ(value);
-		break;
-            case 3:
-                d.SetX(value);
-                break;
-            case 4:
-                d.SetY(value);
-                break;
-            case 5:
-                d.SetZ(value);
-                break;
+        case 0:
+            pnt.SetX(value);
+            break;
+
+        case 1:
+            pnt.SetY(value);
+            break;
+
+        case 2:
+            pnt.SetZ(value);
+            break;
+
+        case 3:
+            dx=(value);
+            break;
+
+        case 4:
+            dy=(value);
+            break;
+
+        case 5:
+            dz=(value);
+            break;
         };
-        t.SetLocation(p);
-        t.SetDirection(d);
+    };
+    template<typename T>
+    void finalize(T& t) {
+        t.SetLocation(pnt);
+        t.SetDirection(gp_Dir(dx,dy,dz));
     };
 };
 
 struct gp_pln_accessor {
 
+    gp_Pnt pnt;
+    double dx,dy,dz;
+
     template<typename Scalar, int ID, typename T>
     Scalar get(T& t) {
         switch(ID) {
-            case 0:
-                return t.Axis().Location().X();
-            case 1:
-                return t.Axis().Location().Y();
-            case 2:
-                return t.Axis().Location().Z();
-            case 3:
-                return t.Axis().Direction().X();
-            case 4:
-                return t.Axis().Direction().Y();
-            case 5:
-                return t.Axis().Direction().Z();
-            default:
-                return 0;
+        case 0:
+            return t.Axis().Location().X();
+
+        case 1:
+            return t.Axis().Location().Y();
+
+        case 2:
+            return t.Axis().Location().Z();
+
+        case 3:
+            return t.Axis().Direction().X();
+
+        case 4:
+            return t.Axis().Direction().Y();
+
+        case 5:
+            return t.Axis().Direction().Z();
+
+        default:
+            return 0;
         };
     };
     template<typename Scalar, int ID, typename T>
     void set(Scalar value, T& t) {
-        gp_Pnt p = t.Axis().Location();
-        gp_Dir d = t.Axis().Direction();
         switch(ID) {
-            case 0:
-                p.SetX(value);
-                break;
-            case 1:
-                p.SetY(value);
-                break;
-            case 2:
-                p.SetZ(value);
-		break;
-            case 3:
-                d.SetX(value);
-                break;
-            case 4:
-                d.SetY(value);
-                break;
-            case 5:
-                d.SetZ(value);
-                break;
+        case 0:
+            pnt.SetX(value);
+            break;
+
+        case 1:
+            pnt.SetY(value);
+            break;
+
+        case 2:
+            pnt.SetZ(value);
+            break;
+
+        case 3:
+            dx=value;
+            break;
+
+        case 4:
+            dy=value;
+            break;
+
+        case 5:
+            dz=value;
+            break;
         };
-        t.SetAxis(gp_Ax1(p,d));
+    };
+    template<typename T>
+    void finalize(T& t) {
+        t.SetAxis(gp_Ax1(pnt,gp_Dir(dx,dy,dz)));
     };
 };
 
 struct gp_cylinder_accessor {
 
+    gp_Pnt pnt;
+    double dx,dy,dz;
+
     template<typename Scalar, int ID, typename T>
     Scalar get(T& t) {
         switch(ID) {
-            case 0:
-                return t.Axis().Location().X();
-            case 1:
-                return t.Axis().Location().Y();
-            case 2:
-                return t.Axis().Location().Z();
-            case 3:
-                return t.Axis().Direction().X();
-            case 4:
-                return t.Axis().Direction().Y();
-            case 5:
-                return t.Axis().Direction().Z();
-            case 6:
-                return t.Radius();
-            default:
-                return 0;
+        case 0:
+            return t.Axis().Location().X();
+
+        case 1:
+            return t.Axis().Location().Y();
+
+        case 2:
+            return t.Axis().Location().Z();
+
+        case 3:
+            return t.Axis().Direction().X();
+
+        case 4:
+            return t.Axis().Direction().Y();
+
+        case 5:
+            return t.Axis().Direction().Z();
+
+        case 6:
+            return t.Radius();
+
+        default:
+            return 0;
         };
     };
     template<typename Scalar, int ID, typename T>
     void set(Scalar value, T& t) {
-        gp_Pnt p = t.Axis().Location();
-        gp_Dir d = t.Axis().Direction();
+
         switch(ID) {
-            case 0:
-                p.SetX(value);
-                break;
-            case 1:
-                p.SetY(value);
-                break;
-            case 2:
-                p.SetZ(value);
-		break;
-            case 3:
-                d.SetX(value);
-                break;
-            case 4:
-                d.SetY(value);
-                break;
-            case 5:
-                d.SetZ(value);
-                break;
-            case 6:
-                t.SetRadius(value);
-		break;
+        case 0:
+            pnt.SetX(value);
+            break;
+
+        case 1:
+            pnt.SetY(value);
+            break;
+
+        case 2:
+            pnt.SetZ(value);
+            break;
+
+        case 3:
+            dx=value;
+            break;
+
+        case 4:
+            dy=value;
+            break;
+
+        case 5:
+            dz=value;
+            break;
+
+        case 6:
+            t.SetRadius(value);
+            break;
         };
-        t.SetAxis(gp_Ax1(p,d));
+
+    };
+
+    template<typename T>
+    void finalize(T& t) {
+        t.SetAxis(gp_Ax1(pnt,gp_Dir(dx,dy,dz)));
     };
 };
 
@@ -236,49 +295,63 @@ struct placement_accessor {
     template<typename Scalar, int ID, typename T>
     Scalar get(T& t) {
         t.getRotation().getValue(q0,q1,q2,q3);
+
         switch(ID) {
-            case 0:
-                return q3;
-            case 1:
-                return q0;
-            case 2:
-                return q1;
-            case 3:
-                return q2;
-            case 4:
-                return t.getPosition()[0];
-            case 5:
-                return t.getPosition()[1];
-            case 6:
-                return t.getPosition()[2];
-            default:
-                return 0;
+        case 0:
+            return q3;
+
+        case 1:
+            return q0;
+
+        case 2:
+            return q1;
+
+        case 3:
+            return q2;
+
+        case 4:
+            return t.getPosition()[0];
+
+        case 5:
+            return t.getPosition()[1];
+
+        case 6:
+            return t.getPosition()[2];
+
+        default:
+            return 0;
         };
     };
     template<typename Scalar, int ID, typename T>
     void set(Scalar value, T& t) {
         switch(ID) {
-            case 0:
-                q3 = value;
-                break;
-            case 1:
-                q0 = value;
-                break;
-            case 2:
-                q1 = value;
-                break;
-            case 3:
-                q2 = value;
-                break;
-            case 4:
-                vec[0] = value;
-                break;
-            case 5:
-                vec[1] = value;
-                break;
-            case 6:
-                vec[2] = value;
-                break;
+        case 0:
+            q3 = value;
+            break;
+
+        case 1:
+            q0 = value;
+            break;
+
+        case 2:
+            q1 = value;
+            break;
+
+        case 3:
+            q2 = value;
+            break;
+
+        case 4:
+            vec[0] = value;
+            break;
+
+        case 5:
+            vec[1] = value;
+            break;
+
+        case 6:
+            vec[2] = value;
+            break;
         };
     };
 
@@ -333,7 +406,7 @@ typedef dcm::ModulePart< mpl::vector1< Base::Placement >, std::string > ModulePa
 
 #ifdef ASSEMBLY_DEBUG_FACILITIES
 typedef dcm::System<Kernel, Module3D, ModulePart, dcm::ModuleState> Solver;
-#elif
+#else
 typedef dcm::System<Kernel, Module3D, ModulePart> Solver;
 #endif
 
@@ -342,4 +415,4 @@ typedef Module3D::type<Solver>::Geometry3D Geometry3D;
 typedef Module3D::type<Solver>::Constraint3D Constraint3D;
 
 
-#endif //SOLVER_H
\ No newline at end of file
+#endif //SOLVER_H
diff --git a/src/Mod/Assembly/App/opendcm/core/clustergraph.hpp b/src/Mod/Assembly/App/opendcm/core/clustergraph.hpp
index 4d4c00012..3e4a599f2 100644
--- a/src/Mod/Assembly/App/opendcm/core/clustergraph.hpp
+++ b/src/Mod/Assembly/App/opendcm/core/clustergraph.hpp
@@ -623,7 +623,8 @@ public:
      * Sometimes it is needed to add a vertex with given global identifier. As the global vertex can not
      * be changed after creation, this method can be used to specify the global vertex by which this 
      * graph vertex can be identified. The given global vertex is not checked, you need to ensure that 
-     * it is a unique id. The ID generator is changed so that it creates only identifier bigger than v.
+     * it is a unique id or the already existing vertex is returned.
+     * The ID generator is changed so that it creates only identifier bigger than v.
      * 
      * @return fusion::vector<LocalVertex, GlobalVertex> the local and global vertex descriptor
      **/
diff --git a/src/Mod/Assembly/App/opendcm/core/geometry.hpp b/src/Mod/Assembly/App/opendcm/core/geometry.hpp
index a56df5691..6042541dd 100644
--- a/src/Mod/Assembly/App/opendcm/core/geometry.hpp
+++ b/src/Mod/Assembly/App/opendcm/core/geometry.hpp
@@ -217,7 +217,7 @@ class Geometry {
 
 #ifdef USE_LOGGING
 protected:
-    src::logger log;
+    dcm_logger log;
 #endif
 
 public:
@@ -327,13 +327,7 @@ public:
     void recalculate(DiffTransform& trans);
 
     typename Kernel::Vector3 getPoint() {
-        if(m_isInCluster)
             return m_toplocal.template segment<Dim>(0);
-        else if(m_init)
-            return m_rotated.template segment<Dim>(0);
-        else
-            return m_global.template segment<Dim>(0);
-
     };
 
     //use m_value or parametermap as new value, dependend on the solving mode
diff --git a/src/Mod/Assembly/App/opendcm/core/imp/clustergraph_imp.hpp b/src/Mod/Assembly/App/opendcm/core/imp/clustergraph_imp.hpp
index 199a2e209..a49c31fc4 100644
--- a/src/Mod/Assembly/App/opendcm/core/imp/clustergraph_imp.hpp
+++ b/src/Mod/Assembly/App/opendcm/core/imp/clustergraph_imp.hpp
@@ -1,20 +1,20 @@
-  /*
-    openDCM, dimensional constraint manager
-    Copyright (C) 2012  Stefan Troeger <stefantroeger@gmx.net>
+/*
+  openDCM, dimensional constraint manager
+  Copyright (C) 2012  Stefan Troeger <stefantroeger@gmx.net>
 
-    This library is free software; you can redistribute it and/or modify
-    it under the terms of the GNU Lesser General Public License as published by
-    the Free Software Foundation; either version 2.1 of the License, or
-    (at your option) any later version.
+  This library is free software; you can redistribute it and/or modify
+  it under the terms of the GNU Lesser General Public License as published by
+  the Free Software Foundation; either version 2.1 of the License, or
+  (at your option) any later version.
 
-    This library 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 Lesser General Public License for more details.
+  This library 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 Lesser General Public License for more details.
 
-    You should have received a copy of the GNU Lesser General Public License along
-    with this library; if not, write to the Free Software Foundation, Inc.,
-    51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+  You should have received a copy of the GNU Lesser General Public License along
+  with this library; if not, write to the Free Software Foundation, Inc.,
+  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 */
 
 #ifndef DCM_CLUSTERGRAPH_IMP_HPP
@@ -134,7 +134,7 @@ struct obj_helper {
 
     //used with vertex bundle type
     template<typename bundle>
-    typename boost::enable_if < boost::is_same<bundle, typename boost::vertex_bundle_type<Graph>::type>, result_type >::type 
+    typename boost::enable_if < boost::is_same<bundle, typename boost::vertex_bundle_type<Graph>::type>, result_type >::type
     operator()(bundle& p) {
 
         if(Type::value)
@@ -504,16 +504,22 @@ template< typename edge_prop, typename vertex_prop, typename cluster_prop, typen
 fusion::vector<LocalVertex, GlobalVertex>
 ClusterGraph<edge_prop, vertex_prop, cluster_prop, objects>::addVertex(GlobalVertex gv) {
 
-    vertex_bundle vp;
-    fusion::at_c<0> (vp) = gv;
-    LocalVertex v = boost::add_vertex(vp, *this);
-    
-    //ensure that we never create this id, as it is used now
-    if(gv > m_id->count())
-      m_id->setCount(gv);
-
     setChanged();
-    return fusion::make_vector(v, gv);
+    std::pair<LocalVertex, bool> res = getLocalVertex(gv);
+
+    if(!res.second) {
+        vertex_bundle vp;
+        fusion::at_c<0> (vp) = gv;
+        LocalVertex v = boost::add_vertex(vp, *this);
+
+        //ensure that we never create this id, as it is used now
+        if(gv > m_id->count())
+            m_id->setCount(gv);
+
+        return fusion::make_vector(v, gv);
+    };
+
+    return fusion::make_vector(res.first, gv);
 };
 
 template< typename edge_prop, typename vertex_prop, typename cluster_prop, typename objects>
diff --git a/src/Mod/Assembly/App/opendcm/core/imp/geometry_imp.hpp b/src/Mod/Assembly/App/opendcm/core/imp/geometry_imp.hpp
index 91b76fce5..4316e27be 100644
--- a/src/Mod/Assembly/App/opendcm/core/imp/geometry_imp.hpp
+++ b/src/Mod/Assembly/App/opendcm/core/imp/geometry_imp.hpp
@@ -107,7 +107,7 @@ void Geometry<Kernel, Dim, TagList>::init() {
     m_init = false;
 
 #ifdef USE_LOGGING
-    BOOST_LOG(log) << "Init: "<<m_global.transpose();
+    BOOST_LOG_SEV(log, information) << "Init: "<<m_global.transpose();
 #endif
 
 };
@@ -198,7 +198,7 @@ void Geometry<Kernel, Dim, TagList>::recalculate(DiffTransform& trans) {
 
 #ifdef USE_LOGGING
     if(!boost::math::isnormal(m_rotated.norm()) || !boost::math::isnormal(m_diffparam.norm())) {
-        BOOST_LOG(log) << "Unnormal recalculated value detected: "<<m_rotated.transpose()<<std::endl
+        BOOST_LOG_SEV(log, error) << "Unnormal recalculated value detected: "<<m_rotated.transpose()<<std::endl
                        << "or unnormal recalculated diff detected: "<<std::endl<<m_diffparam<<std::endl
                        <<" with Transform: "<<std::endl<<trans;
     }
@@ -213,7 +213,7 @@ void Geometry<Kernel, Dim, TagList>::finishCalculation() {
         //recalculate(1.); //remove scaling to get right global value
         m_global = m_rotated;
 #ifdef USE_LOGGING
-        BOOST_LOG(log) << "Finish cluster calculation";
+        BOOST_LOG_SEV(log, information) << "Finish cluster calculation";
 #endif
     }
     //TODO:non cluster paramter scaling
@@ -221,7 +221,7 @@ void Geometry<Kernel, Dim, TagList>::finishCalculation() {
         m_global = m_parameter;
         normalize();
 #ifdef USE_LOGGING
-        BOOST_LOG(log) << "Finish calculation";
+        BOOST_LOG_SEV(log, information) << "Finish calculation";
 #endif
     };
 
@@ -247,7 +247,7 @@ void Geometry<Kernel, Dim, TagList>::transform(const Transform& t, VectorType& v
     }
 
 #ifdef USE_LOGGING
-    BOOST_LOG(log) << "Transformed with cluster: "<<m_isInCluster
+    BOOST_LOG_SEV(log, manipulation) << "Transformed with cluster: "<<m_isInCluster
                    << ", init: "<<m_init<<" into: "<< vec.transpose();
 #endif
 }
diff --git a/src/Mod/Assembly/App/opendcm/core/imp/kernel_imp.hpp b/src/Mod/Assembly/App/opendcm/core/imp/kernel_imp.hpp
index d166a30b7..22269c018 100644
--- a/src/Mod/Assembly/App/opendcm/core/imp/kernel_imp.hpp
+++ b/src/Mod/Assembly/App/opendcm/core/imp/kernel_imp.hpp
@@ -35,7 +35,7 @@ Dogleg<Kernel>::Dogleg(Kernel* k) : m_kernel(k), tolg(1e-40), tolx(1e-20) {
 };
 
 template<typename Kernel>
-Dogleg<Kernel>::Dogleg() : tolg(1e-40), tolx(1e-20) {
+Dogleg<Kernel>::Dogleg() : tolg(1e-6), tolx(1e-3) {
 
 #ifdef USE_LOGGING
     log.add_attribute("Tag", attrs::constant< std::string >("Dogleg"));
@@ -62,16 +62,17 @@ void Dogleg<Kernel>::calculateStep(const Eigen::MatrixBase<Derived>& g, const Ei
     const typename Kernel::Vector h_gn = jacobi.fullPivLu().solve(-residual);
     const double eigen_error = (jacobi*h_gn + residual).norm();
 #ifdef USE_LOGGING
-   if(!boost::math::isfinite(h_gn.norm())) {
-        BOOST_LOG(log)<< "Unnormal gauss-newton detected: "<<h_gn.norm();
+
+    if(!boost::math::isfinite(h_gn.norm())) {
+        BOOST_LOG_SEV(log, error) << "Unnormal gauss-newton detected: "<<h_gn.norm();
     }
 
     if(!boost::math::isfinite(h_sd.norm())) {
-        BOOST_LOG(log)<< "Unnormal steepest descent detected: "<<h_sd.norm();
+        BOOST_LOG_SEV(log, error) << "Unnormal steepest descent detected: "<<h_sd.norm();
     }
 
     if(!boost::math::isfinite(alpha)) {
-        BOOST_LOG(log)<< "Unnormal alpha detected: "<<alpha;
+        BOOST_LOG_SEV(log, error) << "Unnormal alpha detected: "<<alpha;
     }
 
 #endif
@@ -86,7 +87,7 @@ void Dogleg<Kernel>::calculateStep(const Eigen::MatrixBase<Derived>& g, const Ei
 #ifdef USE_LOGGING
 
         if(!boost::math::isfinite(h_dl.norm())) {
-            BOOST_LOG(log)<< "Unnormal dogleg descent detected: "<<h_dl.norm();
+            BOOST_LOG_SEV(log, error) << "Unnormal dogleg descent detected: "<<h_dl.norm();
         }
 
 #endif
@@ -113,15 +114,15 @@ void Dogleg<Kernel>::calculateStep(const Eigen::MatrixBase<Derived>& g, const Ei
 
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(c)) {
-            BOOST_LOG(log)<< "Unnormal dogleg c detected: "<<c;
+            BOOST_LOG_SEV(log, error) << "Unnormal dogleg c detected: "<<c;
         }
 
         if(!boost::math::isfinite(bas)) {
-            BOOST_LOG(log)<< "Unnormal dogleg bas detected: "<<bas;
+            BOOST_LOG_SEV(log, error) << "Unnormal dogleg bas detected: "<<bas;
         }
 
         if(!boost::math::isfinite(beta)) {
-            BOOST_LOG(log)<< "Unnormal dogleg beta detected: "<<beta;
+            BOOST_LOG_SEV(log, error) << "Unnormal dogleg beta detected: "<<beta;
         }
 
 #endif
@@ -149,15 +150,15 @@ int Dogleg<Kernel>::solve(typename Kernel::MappedEquationSystem& sys, Functor& r
 
     sys.recalculate();
 #ifdef USE_LOGGING
-    BOOST_LOG(log)<< "initial jacobi: "<<std::endl<<sys.Jacobi<<std::endl
-                  << "residual: "<<sys.Residual.transpose()<<std::endl
-                  << "maximal differential: "<<sys.Jacobi.template lpNorm<Eigen::Infinity>();
+    BOOST_LOG_SEV(log, solving) << "initial jacobi: "<<std::endl<<sys.Jacobi<<std::endl
+                                << "residual: "<<sys.Residual.transpose()<<std::endl
+                                << "maximal differential: "<<sys.Jacobi.template lpNorm<Eigen::Infinity>();
 #endif
     sys.removeLocalGradientZeros();
 
 #ifdef USE_LOGGING
-    BOOST_LOG(log)<< "LGZ jacobi: "<<std::endl<<sys.Jacobi<<std::endl
-                  << "maximal differential: "<<sys.Jacobi.template lpNorm<Eigen::Infinity>();
+    BOOST_LOG_SEV(log, solving) << "LGZ jacobi: "<<std::endl<<sys.Jacobi<<std::endl
+                                << "maximal differential: "<<sys.Jacobi.template lpNorm<Eigen::Infinity>();
 #endif
 
     err = sys.Residual.norm();
@@ -179,17 +180,18 @@ int Dogleg<Kernel>::solve(typename Kernel::MappedEquationSystem& sys, Functor& r
     unused=0;
     counter=0;
 
-    int maxIterNumber = 10000;//MaxIterations * xsize;
+    int maxIterNumber = m_kernel->template getProperty<iterations>();
+    number_type pr = m_kernel->template getProperty<precision>()*sys.Scaling;
     number_type diverging_lim = 1e6*err + 1e12;
 
     do {
 
         // check if finished
-        if(fx_inf <= m_kernel->template getProperty<precision>()*sys.Scaling)  // Success
+        if(fx_inf <= pr)  // Success
             stop = 1;
-        else if(g_inf <= tolg)
+        else if(g_inf <= tolg*pr)
             throw solving_error() <<  boost::errinfo_errno(2) << error_message("g infinity norm smaller below limit");
-        else if(delta <= tolx)
+        else if(delta <= tolx*pr)
             throw solving_error() <<  boost::errinfo_errno(3) << error_message("step size below limit");
         else if(iter >= maxIterNumber)
             throw solving_error() <<  boost::errinfo_errno(4) << error_message("maximal iterations reached");
@@ -210,11 +212,12 @@ int Dogleg<Kernel>::solve(typename Kernel::MappedEquationSystem& sys, Functor& r
         //get the update step
         calculateStep(g, sys.Jacobi, sys.Residual, h_dl, delta);
 
-// #ifdef USE_LOGGING
-//         BOOST_LOG(log)<< "Step in iter "<<iter<<std::endl
-//                       << "Step: "<<h_dl.transpose()<<std::endl
-//                       << "Jacobi: "<<sys.Jacobi<<std::endl;
-// #endif
+#ifdef USE_LOGGING
+        BOOST_LOG_SEV(log, iteration) << "Step in iter "<<iter<<std::endl
+                                      << "Step: "<<h_dl.transpose()<<std::endl
+                                      << "Jacobi: "<<sys.Jacobi<<std::endl
+                                      << "Residual: "<<sys.Residual.transpose();
+#endif
 
         // calculate the linear model
         dL = sys.Residual.norm() - (sys.Residual + sys.Jacobi*h_dl).norm();
@@ -226,11 +229,11 @@ int Dogleg<Kernel>::solve(typename Kernel::MappedEquationSystem& sys, Functor& r
 #ifdef USE_LOGGING
 
         if(!boost::math::isfinite(sys.Residual.norm())) {
-            BOOST_LOG(log)<< "Unnormal residual detected: "<<sys.Residual.norm();
+            BOOST_LOG_SEV(log, error) << "Unnormal residual detected: "<<sys.Residual.norm();
         }
 
         if(!boost::math::isfinite(sys.Jacobi.sum())) {
-            BOOST_LOG(log)<< "Unnormal jacobi detected: "<<sys.Jacobi.sum();
+            BOOST_LOG_SEV(log, error) << "Unnormal jacobi detected: "<<sys.Jacobi.sum();
         }
 
 #endif
@@ -253,17 +256,17 @@ int Dogleg<Kernel>::solve(typename Kernel::MappedEquationSystem& sys, Functor& r
             nu = 2*nu;
         }
 
-// #ifdef USE_LOGGING
-//         BOOST_LOG(log)<<"Result of step dF: "<<dF<<", dL: "<<dL<<std::endl
-//                       << "New Residual: "<< sys.Residual.transpose()<<std::endl;
-// #endif
+#ifdef USE_LOGGING
+        BOOST_LOG_SEV(log, iteration)<<"Result of step dF: "<<dF<<", dL: "<<dL<<std::endl
+                                     << "New Residual: "<< sys.Residual.transpose()<<std::endl;
+#endif
 
         if(dF > 0 && dL > 0) {
 
             //see if we got too high differentials
             if(sys.Jacobi.template lpNorm<Eigen::Infinity>() > 2) {
 #ifdef USE_LOGGING
-                BOOST_LOG(log)<< "High differential detected: "<<sys.Jacobi.template lpNorm<Eigen::Infinity>()<<" in iteration: "<<iter;
+                BOOST_LOG_SEV(log, iteration)<< "High differential detected: "<<sys.Jacobi.template lpNorm<Eigen::Infinity>()<<" in iteration: "<<iter;
 #endif
                 rescale();
                 sys.recalculate();
@@ -287,7 +290,7 @@ int Dogleg<Kernel>::solve(typename Kernel::MappedEquationSystem& sys, Functor& r
         }
         else {
 #ifdef USE_LOGGING
-            BOOST_LOG(log)<< "Reject step in iter "<<iter<<", dF: "<<dF<<", dL: "<<dL;
+            BOOST_LOG_SEV(log, iteration)<< "Reject step in iter "<<iter<<", dF: "<<dF<<", dL: "<<dL;
 #endif
             sys.Residual = F_old;
             sys.Jacobi = J_old;
@@ -305,8 +308,10 @@ int Dogleg<Kernel>::solve(typename Kernel::MappedEquationSystem& sys, Functor& r
     time = (double(end-start) * 1000.) / double(CLOCKS_PER_SEC);
 
 #ifdef USE_LOGGING
-    BOOST_LOG(log) <<"Done solving: "<<err<<", iter: "<<iter<<", unused: "<<unused<<", reason:"<< stop;
-    BOOST_LOG(log)<< "final jacobi: "<<std::endl<<sys.Jacobi;
+    BOOST_LOG_SEV(log, solving)<<"Done solving: "<<err<<", iter: "<<iter<<", unused: "<<unused<<", reason:"<< stop;
+    BOOST_LOG_SEV(log, solving)<< "final jacobi: "<<std::endl<<sys.Jacobi
+                               << "residual: "<<sys.Residual.transpose()<<std::endl
+                               << "maximal differential: "<<sys.Jacobi.template lpNorm<Eigen::Infinity>();
 #endif
 
     return stop;
diff --git a/src/Mod/Assembly/App/opendcm/core/imp/transformation_imp.hpp b/src/Mod/Assembly/App/opendcm/core/imp/transformation_imp.hpp
index 95a1ba058..012040adc 100644
--- a/src/Mod/Assembly/App/opendcm/core/imp/transformation_imp.hpp
+++ b/src/Mod/Assembly/App/opendcm/core/imp/transformation_imp.hpp
@@ -62,6 +62,14 @@ template<typename Scalar, int Dim>
 const typename Transform<Scalar, Dim>::Rotation& Transform<Scalar, Dim>::rotation() const {
     return m_rotation;
 }
+
+template<typename Scalar, int Dim>
+template<typename Derived>
+Transform<Scalar, Dim>& Transform<Scalar, Dim>::setRotation(const Eigen::RotationBase<Derived,Dim>& rotation) {
+    m_rotation = rotation.derived().normalized();
+    return *this;
+}
+
 template<typename Scalar, int Dim>
 template<typename Derived>
 Transform<Scalar, Dim>& Transform<Scalar, Dim>::rotate(const Eigen::RotationBase<Derived,Dim>& rotation) {
@@ -73,6 +81,13 @@ template<typename Scalar, int Dim>
 const typename Transform<Scalar, Dim>::Translation& Transform<Scalar, Dim>::translation() const {
     return m_translation;
 }
+
+template<typename Scalar, int Dim>
+Transform<Scalar, Dim>& Transform<Scalar, Dim>::setTranslation(const Translation& translation) {
+    m_translation = translation;
+    return *this;
+}
+
 template<typename Scalar, int Dim>
 Transform<Scalar, Dim>& Transform<Scalar, Dim>::translate(const Translation& translation) {
     m_translation = m_translation*translation;
@@ -89,6 +104,11 @@ Transform<Scalar, Dim>& Transform<Scalar, Dim>::scale(const Scalar& scaling) {
     return *this;
 }
 template<typename Scalar, int Dim>
+Transform<Scalar, Dim>& Transform<Scalar, Dim>::setScale(const Scaling& scaling) {
+    m_scale.factor() = scaling.factor();
+    return *this;
+}
+template<typename Scalar, int Dim>
 Transform<Scalar, Dim>& Transform<Scalar, Dim>::scale(const Scaling& scaling) {
     m_scale.factor() *= scaling.factor();
     return *this;
diff --git a/src/Mod/Assembly/App/opendcm/core/kernel.hpp b/src/Mod/Assembly/App/opendcm/core/kernel.hpp
index 97d6b93ef..7b6bfc14e 100644
--- a/src/Mod/Assembly/App/opendcm/core/kernel.hpp
+++ b/src/Mod/Assembly/App/opendcm/core/kernel.hpp
@@ -64,12 +64,23 @@ struct precision {
     };
 };
 
+struct iterations {
+
+    typedef int type;
+    typedef setting_property kind;
+    struct default_value {
+        int operator()() {
+            return 5e3;
+        };
+    };
+};
+
 //and the solver itself
 template<typename Kernel>
 struct Dogleg {
 
 #ifdef USE_LOGGING
-    src::logger log;
+    dcm_logger log;
 #endif
 
     typedef typename Kernel::number_type number_type;
@@ -96,7 +107,7 @@ struct Dogleg {
 };
 
 template<typename Scalar, template<class> class Nonlinear = Dogleg>
-struct Kernel : public PropertyOwner< mpl::vector1<precision> > {
+struct Kernel : public PropertyOwner< mpl::vector2<precision, iterations> > {
 
     //basics
     typedef Scalar number_type;
diff --git a/src/Mod/Assembly/App/opendcm/core/logging.hpp b/src/Mod/Assembly/App/opendcm/core/logging.hpp
index bef24ef9b..ed4d7fef5 100644
--- a/src/Mod/Assembly/App/opendcm/core/logging.hpp
+++ b/src/Mod/Assembly/App/opendcm/core/logging.hpp
@@ -27,7 +27,7 @@
 #include <boost/log/core.hpp>
 #include <boost/log/sinks.hpp>
 #include <boost/log/expressions/formatters.hpp>
-#include <boost/log/sources/basic_logger.hpp>
+#include <boost/log/sources/severity_logger.hpp>
 #include <boost/log/attributes.hpp>
 #include <boost/log/sources/logger.hpp>
 #include <boost/log/sources/record_ostream.hpp>
@@ -44,8 +44,20 @@ namespace keywords = boost::log::keywords;
 
 namespace dcm {
 
+enum severity_level {
+
+    iteration,
+    solving,
+    manipulation,
+    information,
+    error
+};
+
+BOOST_LOG_ATTRIBUTE_KEYWORD(severity, "Severity", severity_level)
+
 static int counter = 0;
 typedef sinks::synchronous_sink< sinks::text_file_backend > sink_t;
+typedef src::severity_logger< severity_level > dcm_logger;
 
 inline boost::shared_ptr< sink_t > init_log() {
 
diff --git a/src/Mod/Assembly/App/opendcm/core/system.hpp b/src/Mod/Assembly/App/opendcm/core/system.hpp
index df8a6620d..a483c9620 100644
--- a/src/Mod/Assembly/App/opendcm/core/system.hpp
+++ b/src/Mod/Assembly/App/opendcm/core/system.hpp
@@ -283,6 +283,13 @@ public:
     Shedule m_sheduler;
     Kernel  m_kernel;
     std::vector<boost::shared_ptr<System> > m_subsystems;
+
+#ifdef USE_LOGGING
+    template<typename Expr>
+    void setLoggingFilter(const Expr& ex) {
+      sink->set_filter(ex);
+    }
+#endif
 };
 
 //implementations which always need to be with the definition as they can't be externalised
diff --git a/src/Mod/Assembly/App/opendcm/core/transformation.hpp b/src/Mod/Assembly/App/opendcm/core/transformation.hpp
index e35fb4856..9f512d497 100644
--- a/src/Mod/Assembly/App/opendcm/core/transformation.hpp
+++ b/src/Mod/Assembly/App/opendcm/core/transformation.hpp
@@ -58,12 +58,16 @@ public:
     //***********************
     const Rotation& rotation() const;
     template<typename Derived>
+    Transform& setRotation(const Eigen::RotationBase<Derived,Dim>& rotation);
+    template<typename Derived>
     Transform& rotate(const Eigen::RotationBase<Derived,Dim>& rotation);
 
     const Translation& translation() const;
+    Transform& setTranslation(const Translation& translation);
     Transform& translate(const Translation& translation);
 
     const Scaling& scaling() const;
+    Transform& setScale(const Scaling& scaling);
     Transform& scale(const Scalar& scaling);
     Transform& scale(const Scaling& scaling);
 
diff --git a/src/Mod/Assembly/App/opendcm/module3d/clustermath.hpp b/src/Mod/Assembly/App/opendcm/module3d/clustermath.hpp
index de96bdd20..aad0cd6c0 100644
--- a/src/Mod/Assembly/App/opendcm/module3d/clustermath.hpp
+++ b/src/Mod/Assembly/App/opendcm/module3d/clustermath.hpp
@@ -22,6 +22,7 @@
 
 #include <vector>
 #include <Eigen/StdVector>
+#include <boost/noncopyable.hpp>
 #include <opendcm/core/logging.hpp>
 #include <opendcm/core/kernel.hpp>
 #include "defines.hpp"
@@ -44,7 +45,7 @@ enum Scalemode {
 };
 
 template<typename Sys>
-struct ClusterMath {
+struct ClusterMath : public boost::noncopyable {
 
 public:
     typedef typename Sys::Kernel Kernel;
@@ -91,6 +92,12 @@ public:
     void initFixMaps();
 
     typename Kernel::Transform3D& getTransform();
+    typename Kernel::Transform3D::Translation const& getTranslation() const;
+    typename Kernel::Transform3D::Rotation const& getRotation() const;
+    void setTransform(typename Kernel::Transform3D const& t);
+    void setTranslation(typename Kernel::Transform3D::Translation const& );
+    void setRotation(typename Kernel::Transform3D::Rotation const&);
+    
     void mapsToTransform(typename Kernel::Transform3D& trans);
     void transformToMaps(typename Kernel::Transform3D& trans);
 
diff --git a/src/Mod/Assembly/App/opendcm/module3d/distance.hpp b/src/Mod/Assembly/App/opendcm/module3d/distance.hpp
index d26215f7d..af79e5d24 100644
--- a/src/Mod/Assembly/App/opendcm/module3d/distance.hpp
+++ b/src/Mod/Assembly/App/opendcm/module3d/distance.hpp
@@ -85,7 +85,7 @@ struct Distance::type< Kernel, tag::point3D, tag::line3D > {
     Vector3 diff, n, dist;
 
 #ifdef USE_LOGGING
-    src::logger log;
+    dcm_logger log;
     attrs::mutable_constant< std::string > tag;
 
     type() : tag("Distance point3D line3D") {
@@ -98,7 +98,7 @@ struct Distance::type< Kernel, tag::point3D, tag::line3D > {
         Vector3 pp = line.head(3) + (line.head(3)-point.head(3)).norm()*line.template segment<3>(3);
 #ifdef USE_LOGGING
         if(!boost::math::isnormal(pp.norm()))
-            BOOST_LOG(log) << "Unnormal pseudopoint detected";
+            BOOST_LOG_SEV(log, error) << "Unnormal pseudopoint detected";
 #endif
         v2.push_back(pp);
     };
@@ -114,7 +114,7 @@ struct Distance::type< Kernel, tag::point3D, tag::line3D > {
         const Scalar res = dist.norm() - sc_value;
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(res))
-            BOOST_LOG(log) << "Unnormal residual detected: "<<res;
+            BOOST_LOG_SEV(log, error) << "Unnormal residual detected: "<<res;
 #endif
         return res;
     };
@@ -131,7 +131,7 @@ struct Distance::type< Kernel, tag::point3D, tag::line3D > {
         const Scalar res = dist.dot(d_dist)/dist.norm();
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(res))
-            BOOST_LOG(log) << "Unnormal first cluster gradient detected: "<<res
+            BOOST_LOG_SEV(log, error) << "Unnormal first cluster gradient detected: "<<res
                            <<" with point: "<<point.transpose()<<", line: "<<line.transpose()
                            <<" and dpoint: "<<dpoint.transpose();
 #endif
@@ -151,7 +151,7 @@ struct Distance::type< Kernel, tag::point3D, tag::line3D > {
         const Scalar res = dist.dot(d_dist)/dist.norm();
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(res))
-            BOOST_LOG(log) << "Unnormal second cluster gradient detected: "<<res
+            BOOST_LOG_SEV(log, error) << "Unnormal second cluster gradient detected: "<<res
                            <<" with point: "<<point.transpose()<<", line: "<<line.transpose()
                            << "and dline: "<<dline.transpose();
 #endif
@@ -217,7 +217,7 @@ struct Distance::type< Kernel, tag::point3D, tag::plane3D > {
         v2.push_back(pp);
 #ifdef USE_LOGGING
         if(!boost::math::isnormal(pp.norm()))
-            BOOST_LOG(log) << "Unnormal pseudopoint detected";
+            BOOST_LOG_SEV(log, error) << "Unnormal pseudopoint detected";
 #endif
     };
     void setScale(Scalar scale) {
@@ -239,7 +239,7 @@ struct Distance::type< Kernel, tag::point3D, tag::plane3D > {
             return result + sc_value;
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(result))
-            BOOST_LOG(log) << "Unnormal residual detected: " << result;
+            BOOST_LOG_SEV(log, error) << "Unnormal residual detected: " << result;
 #endif
         return result;
     };
@@ -253,7 +253,7 @@ struct Distance::type< Kernel, tag::point3D, tag::plane3D > {
         const Scalar res = (dparam1.head(3)).dot(param2.tail(3)) / param2.tail(3).norm();
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(res))
-            BOOST_LOG(log) << "Unnormal first cluster gradient detected: "<<res;
+            BOOST_LOG_SEV(log, error) << "Unnormal first cluster gradient detected: "<<res;
 #endif
         //r  = sqrt(x^2) = (x^2)^(1/2)
         //r' = 1/2(x^2)^(-1/2) * (x^2)'
@@ -279,7 +279,7 @@ struct Distance::type< Kernel, tag::point3D, tag::plane3D > {
         const Scalar res = (((-dp2).dot(n) + (p1-p2).dot(dn)) / n.norm() - (p1-p2).dot(n)* n.dot(dn)/std::pow(n.norm(),3));
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(res))
-            BOOST_LOG(log) << "Unnormal second cluster gradient detected: "<<res;
+            BOOST_LOG_SEV(log, error) << "Unnormal second cluster gradient detected: "<<res;
 #endif
         if(sspace == bidirectional && result<0.)
             return -res;
@@ -423,7 +423,7 @@ struct Distance::type< Kernel, tag::line3D, tag::line3D > {
 
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(pp1.norm()) || !boost::math::isfinite(pp2.norm()))
-            BOOST_LOG(log) << "Unnormal pseudopoint detected";
+            BOOST_LOG_SEV(log, error) << "Unnormal pseudopoint detected";
 #endif
 
         v1.push_back(pp1);
@@ -451,7 +451,7 @@ struct Distance::type< Kernel, tag::line3D, tag::line3D > {
         const Scalar res = std::abs(cdn) / nxn.norm();
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(res))
-            BOOST_LOG(log) << "Unnormal residual detected: "<<res;
+            BOOST_LOG_SEV(log, error) << "Unnormal residual detected: "<<res;
 #endif
         return res;
     };
@@ -475,7 +475,7 @@ struct Distance::type< Kernel, tag::line3D, tag::line3D > {
 
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(diff))
-            BOOST_LOG(log) << "Unnormal first cluster gradient detected: "<<diff
+            BOOST_LOG_SEV(log, error) << "Unnormal first cluster gradient detected: "<<diff
                            <<" with line1: "<<line1.transpose()<<", line2: "<<line2.transpose()
                            <<" and dline1: "<<dline1.transpose();
 #endif
@@ -501,7 +501,7 @@ struct Distance::type< Kernel, tag::line3D, tag::line3D > {
 
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(diff))
-            BOOST_LOG(log) << "Unnormal first cluster gradient detected: "<<diff
+            BOOST_LOG_SEV(log, error) << "Unnormal first cluster gradient detected: "<<diff
                            <<" with line1: "<<line1.transpose()<<", line2: "<<line2.transpose()
                            <<" and dline2: "<<dline2.transpose();
 #endif
diff --git a/src/Mod/Assembly/App/opendcm/module3d/geometry.hpp b/src/Mod/Assembly/App/opendcm/module3d/geometry.hpp
index 6a3531fb5..4e11f4208 100644
--- a/src/Mod/Assembly/App/opendcm/module3d/geometry.hpp
+++ b/src/Mod/Assembly/App/opendcm/module3d/geometry.hpp
@@ -55,6 +55,7 @@ namespace modell {
       a.template set<Scalar, 0>(v(0), t);
       a.template set<Scalar, 1>(v(1), t);
       a.template set<Scalar, 2>(v(2), t);
+      a.finalize(t);
     };
   };
   
@@ -87,6 +88,7 @@ namespace modell {
       a.template set<Scalar, 3>(v(3), t);
       a.template set<Scalar, 4>(v(4), t);
       a.template set<Scalar, 5>(v(5), t);
+      a.finalize(t);
     };
   };
   
@@ -122,6 +124,7 @@ namespace modell {
       a.template set<Scalar, 4>(v(4), t);
       a.template set<Scalar, 5>(v(5), t);
       a.template set<Scalar, 6>(v(6), t);
+      a.finalize(t);
     };
   };
   
@@ -138,6 +141,8 @@ struct dummy_accessor {
     void set(Scalar value, T& t) {
         //TODO: throw
     };
+    template<typename T>
+    void finalize(T& t) {};
 };
 
 //dummy geometry traits for boost blank, wil bever be used
diff --git a/src/Mod/Assembly/App/opendcm/module3d/imp/clustermath_imp.hpp b/src/Mod/Assembly/App/opendcm/module3d/imp/clustermath_imp.hpp
index 46f37b56d..e4043b20a 100644
--- a/src/Mod/Assembly/App/opendcm/module3d/imp/clustermath_imp.hpp
+++ b/src/Mod/Assembly/App/opendcm/module3d/imp/clustermath_imp.hpp
@@ -105,6 +105,31 @@ typename ClusterMath<Sys>::Kernel::Transform3D& ClusterMath<Sys>::getTransform()
     return m_transform;
 };
 
+template<typename Sys>
+typename ClusterMath<Sys>::Kernel::Transform3D::Translation const& ClusterMath<Sys>::getTranslation() const {
+    return m_transform.translation();
+};
+
+template<typename Sys>
+typename ClusterMath<Sys>::Kernel::Transform3D::Rotation const& ClusterMath<Sys>::getRotation() const {
+    return m_transform.rotation();
+};
+
+template<typename Sys>
+void ClusterMath<Sys>::setTransform(typename ClusterMath<Sys>::Kernel::Transform3D const& t) {
+    m_transform = t;
+};
+
+template<typename Sys>
+void ClusterMath<Sys>::setTranslation(typename ClusterMath<Sys>::Kernel::Transform3D::Translation const& t) {
+    m_transform.setTranslation(t);
+};
+
+template<typename Sys>
+void ClusterMath<Sys>::setRotation(typename ClusterMath<Sys>::Kernel::Transform3D::Rotation const& r) {
+    m_transform.setRotation(r);
+};
+
 template<typename Sys>
 void ClusterMath<Sys>::mapsToTransform(typename ClusterMath<Sys>::Kernel::Transform3D& trans) {
     //add scale only after possible reset
@@ -173,7 +198,7 @@ void ClusterMath<Sys>::resetClusterRotation(typename ClusterMath<Sys>::Kernel::T
 
     trans  = m_resetTransform.inverse()*trans;
     m_ssrTransform *= m_resetTransform;
-    m_transform = m_resetTransform.inverse()*m_transform;
+    //m_transform = m_resetTransform.inverse()*m_transform;
 
     //apply the needed transformation to all geometries local values
     typedef typename std::vector<Geom>::iterator iter;
@@ -593,6 +618,12 @@ void ClusterMath<Sys>::applyClusterScale(Scalar scale, bool isFixed) {
 #ifdef USE_LOGGING
     BOOST_LOG(log) << "sstrans scale: "<<ssTrans.scaling().factor();
     BOOST_LOG(log) << "finish transform scale: "<<m_transform.scaling().factor();
+    //we may want to access the scale points for debuging (I mean you, freecad assembly debug!), so 
+    //it is important to transform them too to ensure the points are in the same coordinate system
+    typename Vec::iterator it;
+    for(it=m_points.begin(); it!=m_points.end(); it++) {
+      (*it) = ssTrans * (*it);
+    };
 #endif
 };
 
diff --git a/src/Mod/Assembly/App/opendcm/module3d/imp/solver_imp.hpp b/src/Mod/Assembly/App/opendcm/module3d/imp/solver_imp.hpp
index 6d1fea10f..d93af3c77 100644
--- a/src/Mod/Assembly/App/opendcm/module3d/imp/solver_imp.hpp
+++ b/src/Mod/Assembly/App/opendcm/module3d/imp/solver_imp.hpp
@@ -80,7 +80,7 @@ template<typename Sys>
 void MES<Sys>::removeLocalGradientZeros() {
 
 #ifdef USE_LOGGING
-    BOOST_LOG(log) << "remove local gradient zero";
+    BOOST_LOG_SEV(log, information) << "remove local gradient zero";
 #endif
     //let the constraints treat the local zeros
     typedef typename Cluster::template object_iterator<Constraint3D> oiter;
@@ -269,7 +269,7 @@ void SystemSolver<Sys>::solveCluster(boost::shared_ptr<Cluster> cluster, Sys& sy
     if(params <= 0 || constraints <= 0) {
         //TODO:throw
 #ifdef USE_LOGGING
-        BOOST_LOG(log)<< "Error in system counting: params = " << params << " and constraints = "<<constraints;
+        BOOST_LOG_SEV(log, error)<< "Error in system counting: params = " << params << " and constraints = "<<constraints;
 #endif
         return;
     }
@@ -337,11 +337,11 @@ void SystemSolver<Sys>::solveCluster(boost::shared_ptr<Cluster> cluster, Sys& sy
     }
 
     try {
-        //if we don't have rotations we need no expensive scaling code
+    /*    //if we don't have rotations we need no expensive scaling code
         if(!mes.hasAccessType(rotation)) {
 
 #ifdef USE_LOGGING
-            BOOST_LOG(log)<< "No rotation parameters in system, solve without scaling";
+            BOOST_LOG_SEV(log, solving)<< "No rotation parameters in system, solve without scaling";
 #endif
             DummyScaler re;
             sys.kernel().solve(mes, re);
@@ -369,7 +369,7 @@ void SystemSolver<Sys>::solveCluster(boost::shared_ptr<Cluster> cluster, Sys& sy
 
             //if(!has_cycle) {
 #ifdef USE_LOGGING
-            BOOST_LOG(log)<< "non-cyclic system dedected: solve rotation only";
+            BOOST_LOG_SEV(log, solving)<< "non-cyclic system dedected: solve rotation only";
 #endif
             //cool, lets do uncylic. first all rotational constraints with rotational parameters
             mes.setAccess(rotation);
@@ -404,7 +404,7 @@ void SystemSolver<Sys>::solveCluster(boost::shared_ptr<Cluster> cluster, Sys& sy
                     done = true;
                 else {
 #ifdef USE_LOGGING
-                    BOOST_LOG(log)<< "Solve Translation after Rotations are not enough";
+                    BOOST_LOG_SEV(log, solving)<< "Solve Translation after Rotations are not enough";
 #endif
 
                     //let's try translation only
@@ -423,9 +423,9 @@ void SystemSolver<Sys>::solveCluster(boost::shared_ptr<Cluster> cluster, Sys& sy
             //};
 
             //not done already? try it the hard way!
-            if(!done) {
+            if(!done) {*/
 #ifdef USE_LOGGING
-                BOOST_LOG(log)<< "Full scale solver used";
+                BOOST_LOG_SEV(log, solving)<< "Full scale solver used";
 #endif
                 mes.setAccess(complete);
                 mes.recalculate();
@@ -434,10 +434,10 @@ void SystemSolver<Sys>::solveCluster(boost::shared_ptr<Cluster> cluster, Sys& sy
                 re();
                 sys.kernel().solve(mes, re);
 #ifdef USE_LOGGING
-                BOOST_LOG(log)<< "Numbers of rescale: "<<re.rescales;
+                BOOST_LOG_SEV(log, solving)<< "Numbers of rescale: "<<re.rescales;
 #endif
-            };
-        }
+        /*    };
+        }*/
 
         //done solving, write the results back
         finish(cluster, sys, mes);
diff --git a/src/Mod/Assembly/App/opendcm/module3d/imp/state_imp.hpp b/src/Mod/Assembly/App/opendcm/module3d/imp/state_imp.hpp
index f331877e5..542c7a03d 100644
--- a/src/Mod/Assembly/App/opendcm/module3d/imp/state_imp.hpp
+++ b/src/Mod/Assembly/App/opendcm/module3d/imp/state_imp.hpp
@@ -28,6 +28,8 @@
 
 #include <boost/spirit/include/phoenix.hpp>
 #include <boost/phoenix/function/adapt_function.hpp>
+#include <boost/phoenix/bind.hpp>
+#include <boost/fusion/include/adapt_adt.hpp>
 #include <boost/phoenix/fusion/at.hpp>
 #include <boost/mpl/int.hpp>
 #include <boost/mpl/greater.hpp>
@@ -234,6 +236,48 @@ bool VectorInput(Geom& v, Row& r, Value& val) {
     return true; // output continues
 };
 
+template <typename Translation, typename Row, typename Value>
+bool TranslationOutput(Translation& v, Row& r, Value& val) {
+
+    if(r < 3) {
+
+        val = v.getTranslation().vector()(r++);
+        return true; // output continues
+    }
+
+    return false;    // fail the output
+};
+
+template <typename CM>
+bool TranslationInput(CM& t, std::vector<double> const& val) {
+
+    t.setTranslation(typename CM::Kernel::Transform3D::Translation(val[0],val[1],val[2]));
+    return true; // output continues
+};
+
+template <typename CM, typename Row, typename Value>
+bool RotationOutput(CM& v, Row& r, Value& val) {
+
+    if(r < 3) {
+
+        val = v.getRotation().vec()(r++);
+        return true; // output continues
+    }
+    else if( r < 4 ) {
+      val = v.getRotation().w();
+      return true;
+    }
+    
+    return false;    // fail the output
+};
+
+template <typename CM>
+bool RotationInput(CM& t, std::vector<double> const& val) {
+
+    t.setRotation(typename CM::Kernel::Transform3D::Rotation(val[3], val[0], val[1], val[2]));
+    return true; // output continues
+};
+
 template<typename Geom>
 struct inject_set {
 
@@ -302,6 +346,8 @@ static science_type const scientific = science_type();
 
 BOOST_PHOENIX_ADAPT_FUNCTION(bool, vector_out, dcm::details::VectorOutput, 3)
 BOOST_PHOENIX_ADAPT_FUNCTION(bool, vector_in,  dcm::details::VectorInput, 3)
+BOOST_PHOENIX_ADAPT_FUNCTION(bool, translation_out, dcm::details::TranslationOutput, 3)
+BOOST_PHOENIX_ADAPT_FUNCTION(bool, rotation_out, dcm::details::RotationOutput, 3)
 BOOST_PHOENIX_ADAPT_FUNCTION(bool, create,  dcm::details::Create, 4)
 
 BOOST_FUSION_ADAPT_STRUCT(
@@ -331,6 +377,14 @@ void parser_generator< typename details::getModule3D<System>::type::vertex_prop
     r = karma::lit("<type>Vertex</type>")
         << karma::eol << "<value>" << karma::int_ << "</value>";
 };
+/*
+template<typename System, typename iterator>
+void parser_generator< typename details::getModule3D<System>::type::math_prop , System, iterator >::init(generator& r) {
+
+    r = karma::lit("<type>Math3D</type>")
+        << karma::eol << "<Translation>" << (details::scientific[ boost::spirit::_pass = translation_out(karma::_val, karma::_a, karma::_1) ] % ' ') << "</Translation>"
+	<< karma::eol << karma::eps[karma::_a = 0] << "<Rotation>" << (details::scientific[ boost::spirit::_pass = rotation_out(karma::_val, karma::_a, karma::_1) ] % ' ') << "</Rotation>";
+};*/
 
 template<typename System, typename iterator>
 void parser_generator< typename details::getModule3D<System>::type::Constraint3D , System, iterator >::init(generator& r) {
@@ -373,6 +427,13 @@ void parser_parser< typename details::getModule3D<System>::type::vertex_prop, Sy
 
     r %= qi::lit("<type>Vertex</type>") >> "<value>" >> qi::int_ >> "</value>";
 };
+/*
+template<typename System, typename iterator>
+void parser_parser< typename details::getModule3D<System>::type::math_prop, System, iterator >::init(parser& r) {
+
+    //r = qi::lit("<type>Math3D</type>") >> "<Translation>" >> (*qi::double_)[ phx::bind(&details::TranslationInput<details::ClusterMath<System> >, qi::_val, qi::_1) ] >> "</Translation>"
+	//  >> "<Rotation>" >> (*qi::double_)[ phx::bind(&details::RotationInput<details::ClusterMath<System> >,qi::_val, qi::_1) ] >> "</Rotation>";
+};*/
 
 template<typename System, typename iterator>
 void parser_parser< typename details::getModule3D<System>::type::Constraint3D, System, iterator >::init(parser& r) {
diff --git a/src/Mod/Assembly/App/opendcm/module3d/solver.hpp b/src/Mod/Assembly/App/opendcm/module3d/solver.hpp
index 45e750ac9..0522dce4f 100644
--- a/src/Mod/Assembly/App/opendcm/module3d/solver.hpp
+++ b/src/Mod/Assembly/App/opendcm/module3d/solver.hpp
@@ -46,7 +46,7 @@ struct MES  : public Sys::Kernel::MappedEquationSystem {
     boost::shared_ptr<Cluster> m_cluster;
     
 #ifdef USE_LOGGING
-    src::logger log;
+    dcm_logger log;
 #endif
 
     MES(boost::shared_ptr<Cluster> cl, int par, int eqn);
diff --git a/src/Mod/Assembly/App/opendcm/module3d/state.hpp b/src/Mod/Assembly/App/opendcm/module3d/state.hpp
index f115a0d75..26ad11ec5 100644
--- a/src/Mod/Assembly/App/opendcm/module3d/state.hpp
+++ b/src/Mod/Assembly/App/opendcm/module3d/state.hpp
@@ -63,6 +63,17 @@ struct parser_generator< typename details::getModule3D<System>::type::vertex_pro
     typedef karma::rule<iterator, GlobalVertex()> generator;
     static void init(generator& r);
 };
+/*
+template<typename System>
+struct parser_generate< typename details::getModule3D<System>::type::math_prop , System>
+        : public mpl::true_ {};
+
+template<typename System, typename iterator>
+struct parser_generator< typename details::getModule3D<System>::type::math_prop , System, iterator > {
+
+    typedef karma::rule<iterator, details::ClusterMath<System>&(), karma::locals<int> > generator;
+    static void init(generator& r);
+};*/
 
 template<typename System>
 struct parser_generate< typename details::getModule3D<System>::type::Constraint3D , System>
@@ -127,7 +138,17 @@ struct parser_parser< typename details::getModule3D<System>::type::vertex_prop,
     typedef qi::rule<iterator, GlobalVertex(), qi::space_type> parser;
     static void init(parser& r);
 };
+/*
+template<typename System>
+struct parser_parse< typename details::getModule3D<System>::type::math_prop, System>
+        : public mpl::true_ {};
 
+template<typename System, typename iterator>
+struct parser_parser< typename details::getModule3D<System>::type::math_prop, System, iterator > {
+
+    typedef qi::rule<iterator, details::ClusterMath<System>(), qi::space_type > parser;
+    static void init(parser& r);
+};*/
 
 template<typename System>
 struct parser_parse< typename details::getModule3D<System>::type::Constraint3D , System>
diff --git a/src/Mod/Assembly/App/opendcm/modulePart/module.hpp b/src/Mod/Assembly/App/opendcm/modulePart/module.hpp
index 315a17112..b9fe7d019 100644
--- a/src/Mod/Assembly/App/opendcm/modulePart/module.hpp
+++ b/src/Mod/Assembly/App/opendcm/modulePart/module.hpp
@@ -58,7 +58,7 @@ struct ModulePart {
         protected:
 
 #ifdef USE_LOGGING
-            src::logger log;
+            dcm_logger log;
 #endif
 
             //check if we have module3d in this system
@@ -299,7 +299,7 @@ ModulePart<Typelist, ID>::type<Sys>::Part_base::Part_base(const T& geometry, Sys
     m_cluster->template getProperty<typename module3d::math_prop>().getTransform() = m_transform;
 
 #ifdef USE_LOGGING
-    BOOST_LOG(log) << "Init: "<<m_transform;
+    BOOST_LOG_SEV(log, information) << "Init: "<<m_transform;
 #endif
 };
 
@@ -419,7 +419,7 @@ void ModulePart<Typelist, ID>::type<Sys>::Part_base::finishCalculation() {
     apply(vis);
 
 #ifdef USE_LOGGING
-    BOOST_LOG(log) << "New Value: "<<m_transform;
+    BOOST_LOG_SEV(log, manipulation) << "New Value: "<<m_transform;
 #endif
 
     //emit the signal for new values
diff --git a/src/Mod/Assembly/App/opendcm/moduleShape3d/distance.hpp b/src/Mod/Assembly/App/opendcm/moduleShape3d/distance.hpp
index 29aa5b80f..9b50530e2 100644
--- a/src/Mod/Assembly/App/opendcm/moduleShape3d/distance.hpp
+++ b/src/Mod/Assembly/App/opendcm/moduleShape3d/distance.hpp
@@ -41,7 +41,7 @@ struct Distance::type< Kernel, tag::point3D, tag::segment3D > {
     Vector3 v01, v02, v12, cross;
 
 #ifdef USE_LOGGING
-    src::logger log;
+    dcm_logger log;
     attrs::mutable_constant< std::string > tag;
 
     type() : tag("Distance point3D segment3D") {
@@ -55,7 +55,7 @@ struct Distance::type< Kernel, tag::point3D, tag::segment3D > {
         Vector3 pp = segment.head(3) + (segment.head(3)-point.head(3)).norm()*dir;
 #ifdef USE_LOGGING
         if(!boost::math::isnormal(pp.norm()))
-            BOOST_LOG(log) << "Unnormal pseudopoint detected";
+            BOOST_LOG_SEV(log, error) << "Unnormal pseudopoint detected";
 #endif
         v2.push_back(pp);
     };
@@ -77,7 +77,7 @@ struct Distance::type< Kernel, tag::point3D, tag::segment3D > {
         const Scalar res = cross.norm()/v12_n - sc_value;
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(res))
-            BOOST_LOG(log) << "Unnormal residual detected: "<<res;
+            BOOST_LOG_SEV(log, error) << "Unnormal residual detected: "<<res;
 #endif
         return res;
     };
@@ -92,7 +92,7 @@ struct Distance::type< Kernel, tag::point3D, tag::segment3D > {
         const Scalar res = cross.dot(d_cross)/(cross_n*v12_n);
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(res))
-            BOOST_LOG(log) << "Unnormal first cluster gradient detected: "<<res
+            BOOST_LOG_SEV(log, error) << "Unnormal first cluster gradient detected: "<<res
                            <<" with point: "<<point.transpose()<<", segment: "<<segment.transpose()
                            <<" and dpoint: "<<dpoint.transpose();
 #endif
@@ -109,7 +109,7 @@ struct Distance::type< Kernel, tag::point3D, tag::segment3D > {
         const Scalar res = cross.dot(d_cross)/(cross_n*v12_n) - v12.dot(d_v12)*cross_v12_n;
 #ifdef USE_LOGGING
         if(!boost::math::isfinite(res))
-            BOOST_LOG(log) << "Unnormal second cluster gradient detected: "<<res
+            BOOST_LOG_SEV(log, error) << "Unnormal second cluster gradient detected: "<<res
                            <<" with point: "<<point.transpose()<<", segment: "<<segment.transpose()
                            << "and dsegment: "<<dsegment.transpose();
 #endif
diff --git a/src/Mod/Assembly/App/opendcm/moduleState/imp/property_parser_imp.hpp b/src/Mod/Assembly/App/opendcm/moduleState/imp/property_parser_imp.hpp
index ca587812c..9d5bc3cc0 100644
--- a/src/Mod/Assembly/App/opendcm/moduleState/imp/property_parser_imp.hpp
+++ b/src/Mod/Assembly/App/opendcm/moduleState/imp/property_parser_imp.hpp
@@ -66,7 +66,7 @@ prop_parser<PropList, Prop, Par>::prop_parser() : prop_parser<PropList, Prop, Pa
     typedef typename mpl::find<PropList, Prop>::type::pos pos;
 
     Par::init(subrule);
-    start =  qi::lit("<Property>") >> subrule[phx::at_c<pos::value>(*qi::_r1) = qi::_1] >> qi::lit("</Property>");
+    //start =  qi::lit("<Property>") >> subrule[phx::at_c<pos::value>(*qi::_r1) = qi::_1] >> qi::lit("</Property>");
 };
 
 template<typename Sys, typename PropertyList>
diff --git a/src/Mod/Assembly/Gui/TaskAssemblyConstraints.ui b/src/Mod/Assembly/Gui/TaskAssemblyConstraints.ui
index d4f03872a..9c940cfc9 100644
--- a/src/Mod/Assembly/Gui/TaskAssemblyConstraints.ui
+++ b/src/Mod/Assembly/Gui/TaskAssemblyConstraints.ui
@@ -116,7 +116,7 @@
          <string>Angle</string>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="Resources/Assembly.qrc">
           <normaloff>:/icons/constraints/Assembly_ConstraintAngle.svg</normaloff>:/icons/constraints/Assembly_ConstraintAngle.svg</iconset>
         </property>
         <property name="iconSize">
@@ -157,7 +157,7 @@
          <string>Coincident</string>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="Resources/Assembly.qrc">
           <normaloff>:/icons/constraints/Assembly_ConstraintCoincidence.svg</normaloff>:/icons/constraints/Assembly_ConstraintCoincidence.svg</iconset>
         </property>
         <property name="iconSize">
@@ -198,7 +198,7 @@
          <string>Fix</string>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="Resources/Assembly.qrc">
           <normaloff>:/icons/constraints/Assembly_ConstraintLock.svg</normaloff>:/icons/constraints/Assembly_ConstraintLock.svg</iconset>
         </property>
         <property name="iconSize">
@@ -239,7 +239,7 @@
          <string>Distance</string>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="Resources/Assembly.qrc">
           <normaloff>:/icons/constraints/Assembly_ConstraintDistance.svg</normaloff>:/icons/constraints/Assembly_ConstraintDistance.svg</iconset>
         </property>
         <property name="iconSize">
@@ -280,7 +280,7 @@
          <string>Orientation</string>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="Resources/Assembly.qrc">
           <normaloff>:/icons/constraints/Assembly_ConstraintOrientation.svg</normaloff>:/icons/constraints/Assembly_ConstraintOrientation.svg</iconset>
         </property>
         <property name="iconSize">
@@ -321,7 +321,7 @@
          <string>Align</string>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="Resources/Assembly.qrc">
           <normaloff>:/icons/constraints/Assembly_ConstraintAlignment.svg</normaloff>:/icons/constraints/Assembly_ConstraintAlignment.svg</iconset>
         </property>
         <property name="iconSize">
@@ -422,6 +422,9 @@
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
+        <property name="keyboardTracking">
+         <bool>false</bool>
+        </property>
         <property name="maximum">
          <double>999999.000000000000000</double>
         </property>
@@ -436,7 +439,7 @@
          <string>...</string>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="Resources/Assembly.qrc">
           <normaloff>:/icons/constraints/Assembly_ConstraintBidirectional.svg</normaloff>:/icons/constraints/Assembly_ConstraintBidirectional.svg</iconset>
         </property>
         <property name="iconSize">
@@ -474,8 +477,8 @@
          <string>...</string>
         </property>
         <property name="icon">
-         <iconset>
-          <normaloff>:/icons/constraints/Assembly_ConstraintUnidirectional2.svg</normaloff>:/icons/constraints/Assembly_ConstraintUnidirectional2.svg</iconset>
+         <iconset resource="Resources/Assembly.qrc">
+          <normaloff>:/icons/constraints/Assembly_ConstraintUnidirectional1.svg</normaloff>:/icons/constraints/Assembly_ConstraintUnidirectional1.svg</iconset>
         </property>
         <property name="iconSize">
          <size>
@@ -509,8 +512,8 @@
          <string>...</string>
         </property>
         <property name="icon">
-         <iconset>
-          <normaloff>:/icons/constraints/Assembly_ConstraintUnidirectional1.svg</normaloff>:/icons/constraints/Assembly_ConstraintUnidirectional1.svg</iconset>
+         <iconset resource="Resources/Assembly.qrc">
+          <normaloff>:/icons/constraints/Assembly_ConstraintUnidirectional2.svg</normaloff>:/icons/constraints/Assembly_ConstraintUnidirectional2.svg</iconset>
         </property>
         <property name="iconSize">
          <size>
@@ -566,7 +569,7 @@
          <string>Parallel</string>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="Resources/Assembly.qrc">
           <normaloff>:/icons/constraints/Assembly_ConstraintParallel.svg</normaloff>:/icons/constraints/Assembly_ConstraintParallel.svg</iconset>
         </property>
         <property name="iconSize">
@@ -604,7 +607,7 @@
          <string>Equal</string>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="Resources/Assembly.qrc">
           <normaloff>:/icons/constraints/Assembly_ConstraintEqual.svg</normaloff>:/icons/constraints/Assembly_ConstraintEqual.svg</iconset>
         </property>
         <property name="iconSize">
@@ -645,7 +648,7 @@
          <string>Opposite</string>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="Resources/Assembly.qrc">
           <normaloff>:/icons/constraints/Assembly_ConstraintOpposite.svg</normaloff>:/icons/constraints/Assembly_ConstraintOpposite.svg</iconset>
         </property>
         <property name="iconSize">
@@ -686,7 +689,7 @@
          <string>Perpend.</string>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="Resources/Assembly.qrc">
           <normaloff>:/icons/constraints/Assembly_ConstraintPerpendicular.svg</normaloff>:/icons/constraints/Assembly_ConstraintPerpendicular.svg</iconset>
         </property>
         <property name="iconSize">
@@ -729,6 +732,7 @@
  </widget>
  <resources>
   <include location="../../../Gui/Icons/resource.qrc"/>
+  <include location="Resources/Assembly.qrc"/>
  </resources>
  <connections>
   <connection>
diff --git a/src/Mod/Assembly/Gui/ViewProviderPart.cpp b/src/Mod/Assembly/Gui/ViewProviderPart.cpp
index c1be685e2..b1e2ecbca 100644
--- a/src/Mod/Assembly/Gui/ViewProviderPart.cpp
+++ b/src/Mod/Assembly/Gui/ViewProviderPart.cpp
@@ -25,20 +25,35 @@
 
 #ifndef _PreComp_
 # include <Inventor/nodes/SoGroup.h>
+#include <Inventor/nodes/SoAnnotation.h>
+#include <Inventor/nodes/SoSwitch.h>
+#include <Inventor/nodes/SoDrawStyle.h>
 #endif
 
 #include "ViewProviderPart.h"
 //#include <Gui/Command.h>
 //#include <Gui/Document.h>
 #include <Mod/Assembly/App/ItemPart.h>
+#include <Base/Console.h>
 
 using namespace AssemblyGui;
 
+#ifdef ASSEMBLY_DEBUG_FACILITIES
+SbColor PointColor(1.0f,0.0f,0.0f);
+SbColor PseudoColor(0.0f,0.0f,1.0f);
+SbColor MidpointColor(0.0f,1.0f,1.0f);
+SbColor ZeroColor(1.0f,1.0f,0.0f);
+#endif
+
 PROPERTY_SOURCE(AssemblyGui::ViewProviderItemPart,AssemblyGui::ViewProviderItem)
 
 ViewProviderItemPart::ViewProviderItemPart()
 {
-  sPixmap = "Assembly_Assembly_Part_Tree.svg";
+    sPixmap = "Assembly_Assembly_Part_Tree.svg";
+
+#ifdef ASSEMBLY_DEBUG_FACILITIES
+    ADD_PROPERTY(ShowScalePoints,(false));
+#endif
 }
 
 ViewProviderItemPart::~ViewProviderItemPart()
@@ -50,22 +65,46 @@ bool ViewProviderItemPart::doubleClicked(void)
     return true;
 }
 
-void ViewProviderItemPart::attach(App::DocumentObject *pcFeat)
+void ViewProviderItemPart::attach(App::DocumentObject* pcFeat)
 {
     // call parent attach method
     ViewProviderGeometryObject::attach(pcFeat);
-
-
     // putting all together with the switch
     addDisplayMaskMode(getChildRoot(), "Main");
+
+#ifdef ASSEMBLY_DEBUG_FACILITIES
+
+    m_anno = new SoAnnotation;
+    m_switch = new SoSwitch;
+    m_switch->addChild(m_anno);
+
+    m_material = new SoMaterial;
+    m_anno->addChild(m_material);
+
+    SoMaterialBinding* MtlBind = new SoMaterialBinding;
+    MtlBind->value = SoMaterialBinding::PER_VERTEX;
+    m_anno->addChild(MtlBind);
+
+    m_pointsCoordinate = new SoCoordinate3;
+    m_anno->addChild(m_pointsCoordinate);
+
+    SoDrawStyle* DrawStyle = new SoDrawStyle;
+    DrawStyle->pointSize = 8;
+    m_anno->addChild(DrawStyle);
+    m_points = new SoMarkerSet;
+    m_points->markerIndex = SoMarkerSet::CIRCLE_FILLED_7_7;
+    m_anno->addChild(m_points);
+
+    pcRoot->addChild(m_switch);
+#endif
 }
 
 void ViewProviderItemPart::setDisplayMode(const char* ModeName)
 {
-    if ( strcmp("Main",ModeName)==0 )
+    if(strcmp("Main",ModeName)==0)
         setDisplayMaskMode("Main");
 
-    ViewProviderGeometryObject::setDisplayMode( ModeName );
+    ViewProviderGeometryObject::setDisplayMode(ModeName);
 }
 
 std::vector<std::string> ViewProviderItemPart::getDisplayModes(void) const
@@ -83,9 +122,10 @@ std::vector<App::DocumentObject*> ViewProviderItemPart::claimChildren(void)const
 {
     std::vector<App::DocumentObject*> res;
 
-    res.insert( res.end(), static_cast<Assembly::ItemPart*>(getObject())->Annotation.getValues().begin(),static_cast<Assembly::ItemPart*>(getObject())->Annotation.getValues().end());
+    res.insert(res.end(), static_cast<Assembly::ItemPart*>(getObject())->Annotation.getValues().begin(),static_cast<Assembly::ItemPart*>(getObject())->Annotation.getValues().end());
+
     if(static_cast<Assembly::ItemPart*>(getObject())->Model.getValue())
-        res.push_back( static_cast<Assembly::ItemPart*>(getObject())->Model.getValue());
+        res.push_back(static_cast<Assembly::ItemPart*>(getObject())->Model.getValue());
 
     return res;
 
@@ -95,10 +135,104 @@ std::vector<App::DocumentObject*> ViewProviderItemPart::claimChildren3D(void)con
 {
     std::vector<App::DocumentObject*> res;
 
-    res.insert( res.end(), static_cast<Assembly::ItemPart*>(getObject())->Annotation.getValues().begin(),static_cast<Assembly::ItemPart*>(getObject())->Annotation.getValues().end());
+    res.insert(res.end(), static_cast<Assembly::ItemPart*>(getObject())->Annotation.getValues().begin(),static_cast<Assembly::ItemPart*>(getObject())->Annotation.getValues().end());
+
     if(static_cast<Assembly::ItemPart*>(getObject())->Model.getValue())
-        res.push_back( static_cast<Assembly::ItemPart*>(getObject())->Model.getValue());
+        res.push_back(static_cast<Assembly::ItemPart*>(getObject())->Model.getValue());
 
     return res;
 
 }
+
+#ifdef ASSEMBLY_DEBUG_FACILITIES
+
+void ViewProviderItemPart::onChanged(const App::Property* prop) {
+
+    if(prop == &ShowScalePoints) {
+        if(ShowScalePoints.getValue()) {
+            m_switch->whichChild = 0;
+
+            int counter = 0;
+            boost::shared_ptr<Part3D> part = static_cast<Assembly::ItemPart*>(getObject())->m_part;
+
+            if(!part) {
+                ViewProviderItem::onChanged(prop);
+                return;
+            }
+
+            dcm::detail::Transform<double,3> transform = part->m_cluster->getProperty<Module3D::type<Solver>::math_prop>().m_transform;
+            dcm::detail::Transform<double,3> ssrTransform = part->m_cluster->getProperty<Module3D::type<Solver>::math_prop>().m_ssrTransform;
+
+            dcm::detail::Transform<double,3> trans = ssrTransform.inverse();
+
+            int PseudoSize = part->m_cluster->getProperty<Module3D::type<Solver>::math_prop>().m_pseudo.size();
+            typedef dcm::details::ClusterMath<Solver>::Vec Vector;
+            Vector& pv = part->m_cluster->getProperty<Module3D::type<Solver>::math_prop>().m_points;
+
+            for(Vector::iterator it = pv.begin(); it != pv.end(); it++) {
+
+                Kernel::Vector3 vec = trans * (*it);
+                m_pointsCoordinate->point.set1Value(counter, SbVec3f(vec(0),vec(1),vec(2)));
+
+                if(counter < PseudoSize)
+                    m_material->diffuseColor.set1Value(counter, PseudoColor);
+                else
+                    m_material->diffuseColor.set1Value(counter, PointColor);
+
+                counter++;
+            };
+
+            //midpoint
+            Kernel::Vector3 midpoint = trans * Kernel::Vector3(0,0,0);
+
+            m_pointsCoordinate->point.set1Value(counter, SbVec3f(midpoint(0),midpoint(1),midpoint(2)));
+
+            m_material->diffuseColor.set1Value(counter, MidpointColor);
+
+            counter++;
+
+            //origin
+            Kernel::Vector3 origin = Kernel::Vector3(0,0,0);
+
+            m_pointsCoordinate->point.set1Value(counter, SbVec3f(origin(0),origin(1),origin(2)));
+
+            m_material->diffuseColor.set1Value(counter, ZeroColor);
+
+            counter++;
+
+            m_points->numPoints = counter;
+
+            //test
+            boost::shared_ptr<Geometry3D> g = part->m_cluster->getProperty<Module3D::type<Solver>::math_prop>().m_geometry[0];
+
+            std::stringstream str;
+
+            str<<"Global: "<<g->m_global.transpose()<<std::endl;
+
+            str<<"Global TLPoint: "<<(trans * g->getPoint()).transpose()<<std::endl;
+
+            Kernel::Vector3 v = g->m_global.head(3);
+
+            str<<"Local Point : "<<(transform.inverse()*v).transpose()<<std::endl;
+
+            str<<"Local TLPoint: "<<(ssrTransform.inverse()*g->getPoint()).transpose()<<std::endl;
+
+            str<<"PVPoint : "<<(pv[0]).transpose()<<std::endl;
+
+            str<<"Local PVPoint: "<<(ssrTransform.inverse()*pv[0]).transpose()<<std::endl;
+
+            Base::Console().Message(str.str().c_str());
+
+        }
+        else {
+            m_switch->whichChild = -1;
+            m_pointsCoordinate->point.setValues(0, 0, (SbVec3f*)NULL);
+            m_material->diffuseColor.setValues(0, 0, (SbColor*)NULL);
+            m_points->numPoints = 0;
+        }
+    };
+
+    ViewProviderItem::onChanged(prop);
+}
+
+#endif
diff --git a/src/Mod/Assembly/Gui/ViewProviderPart.h b/src/Mod/Assembly/Gui/ViewProviderPart.h
index 720b81ff5..ec8cbe30e 100644
--- a/src/Mod/Assembly/Gui/ViewProviderPart.h
+++ b/src/Mod/Assembly/Gui/ViewProviderPart.h
@@ -25,6 +25,11 @@
 #define ASSEMBLYGUI_ViewProviderPart_H
 
 #include "ViewProvider.h"
+#include <Inventor/nodes/SoAnnotation.h>
+#include <Inventor/nodes/SoMarkerSet.h>
+#include <Inventor/nodes/SoCoordinate3.h>
+#include <Inventor/nodes/SoMaterial.h>
+#include <Inventor/nodes/SoSwitch.h>
 
 
 namespace AssemblyGui {
@@ -49,7 +54,18 @@ public:
     virtual std::vector<App::DocumentObject*> claimChildren(void)const;
 
     virtual std::vector<App::DocumentObject*> claimChildren3D(void)const;
-
+    
+#ifdef ASSEMBLY_DEBUG_FACILITIES
+    //draw the dcm points
+    SoAnnotation*  m_anno;
+    SoSwitch*      m_switch;
+    SoMaterial*    m_material;
+    SoCoordinate3* m_pointsCoordinate;
+    SoMarkerSet*   m_points;
+    virtual void onChanged(const App::Property* prop);
+    
+    App::PropertyBool ShowScalePoints;
+#endif
 };