str method

petercorke · petercorke · commit 0ce1bc001b33 · 2020-10-28T08:02:07.000+10:00
put tool/base in separate table
named configuration is nice, column per joint, headers, handle symbolic values
diff --git a/roboticstoolbox/models/DH/Puma560.py b/roboticstoolbox/models/DH/Puma560.py
@@ -169,7 +169,7 @@ def __init__(self, symbolic=False):
             L,
             name="Puma 560",
             manufacturer="Unimation",
-            keywords=('dynamics', 'symbolic'),
+            keywords=('dynamics', 'symbolic', 'mesh'),
             symbolic=symbolic,
             meshdir="meshes/UNIMATE/puma560"
         )
diff --git a/roboticstoolbox/robot/DHRobot.py b/roboticstoolbox/robot/DHRobot.py
@@ -180,28 +180,41 @@ def angle(theta):
 
         s = str(table)
 
-        table = ANSITable(
-            Column("", colalign=">"),
-            Column("", colalign="<"), border="thin", header=False)
-        if self._base is not None:
-            table.row(
-                "base", self._base.printline(
-                    orient="rpy/xyz", fmt="{:.2g}", file=None))
-        if self._tool is not None:
-            table.row(
-                "tool", self._tool.printline(
-                    orient="rpy/xyz", fmt="{:.2g}", file=None))
-
-        for name, q in self._configdict.items():
-            qlist = []
-            for i, L in enumerate(self):
-                if L.isprismatic():
-                    qlist.append(f"{q[i]:.3g}")
-                else:
-                    qlist.append(f"{q[i] * deg:.3g}\u00b0")
-            table.row(name, ', '.join(qlist))
+        # show tool and base
+        if self._tool is not None or self._tool is not None:
+            table = ANSITable(
+                Column("", colalign=">"),
+                Column("", colalign="<"),
+                border="thin", header=False)
+            if self._base is not None:
+                table.row(
+                    "base", self._base.printline(
+                        orient="rpy/xyz", fmt="{:.2g}", file=None))
+            if self._tool is not None:
+                table.row(
+                    "tool", self._tool.printline(
+                        orient="rpy/xyz", fmt="{:.2g}", file=None))
+            s += "\n" + str(table)
 
-        return s + "\n" + str(table)
+        # show named configurations
+        if len(self._configdict) > 0:
+            table = ANSITable(
+                Column("name", colalign=">"),
+                *[Column(f"q{j:d}", colalign="<", headalign="<") for j in range(self.n)],
+                border="thin")
+
+            for name, q in self._configdict.items():
+                qlist = []
+                for i, L in enumerate(self):
+                    if L.isprismatic():
+                        qlist.append(f"{q[i]:.3g}")
+                    else:
+                        qlist.append(angle(q[i]))
+                table.row(name, *qlist)
+
+            s += "\n" + str(table)
+
+        return s
 
 
     def __add__(self, L):

Original file line number	Diff line number	Diff line change
`@@ -169,7 +169,7 @@ def __init__(self, symbolic=False):`
`169`	`169`	`L,`
`170`	`170`	`name="Puma 560",`
`171`	`171`	`manufacturer="Unimation",`
`172`		`- keywords=('dynamics', 'symbolic'),`
	`172`	`+ keywords=('dynamics', 'symbolic', 'mesh'),`
`173`	`173`	`symbolic=symbolic,`
`174`	`174`	`meshdir="meshes/UNIMATE/puma560"`
`175`	`175`	`)`