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URL: http://github.com/rai-opensource/spatialmath-python/issues/60

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Printing SE3 with symbolic equations · Issue #60 · rai-opensource/spatialmath-python · GitHub
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Printing SE3 with symbolic equations #60

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Open
Printing SE3 with symbolic equations#60
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enhancementNew feature or request

Description

@Jakubach
Jakubach
opened on Dec 11, 2022

Hello,
I noticed that matrices with long symbolic equations are printed very shrink.
I found my own priting method and I suggest to align them by the longest term like this:

def print_SE3(SE3_matrix : SE3):
    SE3_numpy = SE3_matrix.A
    max_item_length = SE3_numpy.astype(np.string_).dtype.itemsize
    print(np.array2string(SE3_numpy,max_line_width=np.inf,precision=3,suppress_small=True,formatter = {'all':lambda x: f"{str(x):{max_item_length}}"}))

or:

def print_SE3(SE3_matrix : SE3):
    SE3_numpy = SE3_matrix.A
    max_item_length = SE3_numpy.astype(np.string_).dtype.itemsize
    with np.printoptions(precision=3, suppress=True, linewidth = np.inf, formatter = {'all':lambda x: f"{str(x):{max_item_length}}"}):
        print(SE3_numpy)

Results without print_SE3:

  -1.0*sin(theta2)*cos(theta1) 1.0*sin(theta1) 1.0*cos(theta1)*cos(theta2) (d3 + l2)*cos(theta1)*cos(theta2)  
  -1.0*sin(theta1)*sin(theta2) -1.0*cos(theta1) 1.0*sin(theta1)*cos(theta2) (d3 + l2)*sin(theta1)*cos(theta2)  
  1.0*cos(theta2) 0            1.0*sin(theta2) l1 + (d3 + l2)*sin(theta2)  
  0            0            0            1

Results with print_SE3:

[[-1.0*sin(theta2)*cos(theta1)      1.0*sin(theta1)                   1.0*cos(theta1)*cos(theta2)       (d3 + l2)*cos(theta1)*cos(theta2)]
 [-1.0*sin(theta1)*sin(theta2)      -1.0*cos(theta1)                  1.0*sin(theta1)*cos(theta2)       (d3 + l2)*sin(theta1)*cos(theta2)]
 [1.0*cos(theta2)                   0                                 1.0*sin(theta2)                   l1 + (d3 + l2)*sin(theta2)       ]
 [0                                 0                                 0                                 1                                ]]

I know that this function could be better so the inner columns should have less separation but I think it's good first step towards the good change.

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