History Off = No undo option
Icon is right under the "Hair" Menu set in your current G.U.I. as posted in that screen shot you have.
(sorry i cannot post a screen myself, as i stated i use Maya 2008 and the icon is different )

as stated previously, it appears that you have the history option turned on at the moment, So that would lend that there is another issue causing your manipulator tools not to show up.

G-man