change Link str method to show joint variable

petercorke · petercorke · commit 777d733ea7b5 · 2020-09-08T12:33:34.000+10:00
and offset more obviously
diff --git a/roboticstoolbox/robot/Link.py b/roboticstoolbox/robot/Link.py
@@ -85,6 +85,7 @@ def __init__(
         self.alpha = alpha
         self.a = a
         self.mdh = mdh
+        self.id = None
         self.offset = offset
 
         self.flip = flip
@@ -126,13 +127,13 @@ def __add__(self, L):
     def __str__(self):
 
         if not self.sigma:
-            s = "Revolute   theta={: .2f}  d={: .2f}  a={: .2f}  " \
-                "alpha={: .2f}  offset={: .2f}".format(
-                    self.theta, self.d, self.a, self.alpha, self.offset)
+            s = "Revolute   theta=q{} +{: .2f},  d={: .2f},  a={: .2f},  " \
+                "alpha={: .2f}".format(
+                    self.id, self.offset, self.d, self.a, self.alpha)
         else:
-            s = "Prismatic  theta={: .2f}  d={: .2f}  a={: .2f}  " \
-                "alpha={: .2f}  offset={: .2f}".format(
-                    self.theta, self.d, self.a, self.alpha, self.offset)
+            s = "Prismatic  theta={: .2f},  d=q{} +{: .2f},  a={: .2f},  " \
+                "alpha={: .2f}".format(
+                    self.theta, self.id, self.offset, self.a, self.alpha, )
 
         return s
 
diff --git a/roboticstoolbox/robot/SerialLink.py b/roboticstoolbox/robot/SerialLink.py
@@ -80,11 +80,13 @@ def __init__(
             if isinstance(L[i], Link):
                 self._links.append(L[i])
                 self._n += 1
+                L[i].id = self._n
 
             elif isinstance(L[i], SerialLink):
                 for j in range(L[i].n):
                     self._links.append(L[i].links[j])
                     self._n += 1
+                    L[i].id = self._n
 
             else:
                 raise TypeError("Input can be only Link or SerialLink")
