Pretty print for ets

jhavl · jhavl · commit 9c0289a17a0a · 2020-04-30T10:54:34.000+10:00
diff --git a/.gitignore b/.gitignore
@@ -1,5 +1,96 @@
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+
 spatialmath/docs/build
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diff --git a/rtb/robot/ets.py b/rtb/robot/ets.py
@@ -6,16 +6,18 @@
 """
 
 import numpy as np
-# import time
 
 
 class ets(object):
     """
-    The Elementary Transform Sequence (ETS). A superclass which represents the kinematics of a serial-link manipulator
+    The Elementary Transform Sequence (ETS). A superclass which represents the
+    kinematics of a serial-link manipulator
 
-    :param et_list: List of elementary transforms which represent the robot kinematics
+    :param et_list: List of elementary transforms which represent the robot
+        kinematics
     :type et_list: list of etb.robot.et
-    :param q_idx: List of indexes within the ets_list which correspond to joints
+    :param q_idx: List of indexes within the ets_list which correspond to
+        joints
     :type q_idx: list of int
     :param name: Name of the robot
     :type name: str, optional
@@ -117,6 +119,29 @@ def dh_to_ets(cls, robot):
             robot.base,
             robot.tool)
 
+    def __str__(self):
+        """
+        Pretty prints the ETS Model of the robot. Will output angles in degrees
+
+        :return: Pretty print of the robot model
+        :rtype: str
+        """
+        axes = ''
+
+        for i in range(self._n):
+            axes += self._ets[self._q_idx[i]]._axis_s
+
+        model = '\n%s (%s): %d axis, %s, ETS\n'\
+            'Elementary Transform Sequence:\n'\
+            '%s\n'\
+            'tool:  t = (%g, %g, %g),  RPY/xyz = (%g, %g, %g) deg' % (
+                self._name, self._manuf, self._n, axes,
+                self._ets,
+                self._tool[0, 3], self._tool[1, 3], self._tool[2, 3], 0, 0, 0
+            )
+
+        return model
+
 
 class et(object):
     """This class implements a single elementary transform (ET)
