add ability to specify file identifier

add default behaviour to prefix the line with the name of the passed variable
tidy up unit tests to support this, also sort some errors with trprint called instead of trprint2

Author: petercorke

RTBPose.m

@@ -555,10 +555,12 @@
             %  - P can be instances of SO3 or SE3.
             %
             % See also RTBPose.print, trprint.
+            args = {varargin{:}, 'label', inputname(1)};
+            
             if nargout == 0
-                print(obj, varargin{:});
+                print(obj, args{:});
             else
-                out = print(obj, varargin{:});
+                out = print(obj, args{:});
             end
         end
 
@@ -763,15 +765,20 @@ function disp(obj)
             %   type.
             %
             % See also trprint, trprint2.
+            if isa(obj, 'SO2') || isa(obj, 'SE2')
+                printfn = @trprint2;
+            else
+                printfn = @trprint;
+            end
             if nargout == 0
                 for T=obj
-                    trprint(T.T, varargin{:});
+                    printfn(double(T), varargin{:});
                 end
             else
                 out = '';
 
                 for T=obj
-                    out = strvcat(out, trprint(T.T, varargin{:}));
+                    out = strvcat(out, printfn(double(T), varargin{:}));
                 end
             end
         end

trprint.m

@@ -8,7 +8,8 @@
 %
 % S = TRPRINT(T, OPTIONS) as above but returns the string.
 %
-% TRPRINT T  is the command line form of above, and displays in RPY format.
+% TRPRINT T OPTIONS is the command line form of above.
+
 %
 % Options::
 % 'rpy'        display with rotation in ZYX roll/pitch/yaw angles (default)
@@ -19,6 +20,7 @@
 % 'radian'     display angle in radians (default is degrees)
 % 'fmt', f     use format string f for all numbers, (default %g)
 % 'label',l    display the text before the transform
+% 'fid',F      send text to the file with file identifier F
 %
 % Examples::
 %        >> trprint(T2)
@@ -27,6 +29,9 @@
 %        >> trprint(T1, 'label', 'A')
 %               A:t = (0,0,0), RPY/zyx = (-0,0,-0) deg
 %
+%       >> trprint B euler
+%       t = (0.629, 0.812, -0.746), EUL = (125, 71.5, 85.7) deg
+%
 % Notes::
 % - If the 'rpy' option is selected, then the particular angle sequence can be
 %   specified with the options 'xyz' or 'yxz' which are passed through to TR2RPY.
@@ -59,18 +64,24 @@
 
 function out = trprint(T, varargin)
 
-    if ischar(T)
-        % command form: trprint T
-        trprint( evalin('caller', T) );
-        return;
-    end
-
     opt.fmt = [];
     opt.mode = {'rpy', 'euler', 'angvec'};
     opt.radian = false;
-    opt.label = '';
+    opt.label = [];
+    opt.fid = 1;
 
     [opt,args] = tb_optparse(opt, varargin);
+    
+    if ischar(T)
+        % command form: trprint T args
+        opt.label = T;
+        trprint( double(evalin('caller', T)), 'setopt', opt );
+        return;
+    end
+    
+    if isempty(opt.label)
+        opt.label = inputname(1);
+    end
 
     s = '';
 
@@ -92,7 +103,9 @@
 
     % if no output provided then display it
     if nargout == 0
-        disp(s);
+        for row=s'
+            fprintf(opt.fid, '%s\n', row);
+        end
     else
         out = s;
     end
@@ -106,7 +119,7 @@
         s = '';
     end
     if ~isrot(T)
-        s = strcat(s, sprintf('t = (%s),', vec2s(opt.fmt, transl(T)')));
+        s = [s, sprintf('t = (%s),', vec2s(opt.fmt, transl(T)'))];
     end
 
     % print the angular part in various representations

unit_test/SO2Test.m

@@ -198,10 +198,10 @@ function display_test(tc)
     R = SO2( 0.3 );
 
     R.print
-    trprint(R)   % old style syntax
+    trprint2(R)   % old style syntax
 
     R.plot
-    trplot(R)   % old style syntax
+    trplot2(R)   % old style syntax
 
     R2 = SO2(0.6);
     R.animate

unit_test/Transformations2Test.m

@@ -323,7 +323,7 @@ function trprint2_test(tc)
     tc.verifyTrue(isa(s, 'char') );
     tc.verifyEqual(size(s,1), 1);
 
-    s = trprint(a);
+    s = trprint2(a);
     tc.verifyClass(s, 'char');
     tc.verifyEqual(size(s,1), 1);
 
@@ -334,7 +334,7 @@ function trprint2_test(tc)
     a = cat(3, a, a, a);
     trprint2(a);
 
-    s = evalc( 'trprint(a)' );
+    s = evalc( 'trprint2(a)' );
     tc.verifyTrue(isa(s, 'char') );
     tc.verifyEqual(size(s,1), 1);
 

unit_test/TransformationsTest.m

@@ -957,6 +957,18 @@ function trprint_test(tc)
     trprint(a, 'angvec', 'radian');
     trprint(a, 'angvec', 'radian', 'fmt', '%g');
     trprint(a, 'angvec', 'radian', 'fmt', '%g', 'label', 'bob');
+    
+    % write to a file
+    f = fopen('test.txt', 'w');
+    trprint(a, 'fid', f);
+    fclose(f);
+    % read it back
+    f = fopen('test.txt', 'r');
+    s2 = fread(f, '*char');
+    fclose(f);
+    delete 'test.txt';
+    tc.verifyTrue( all(s(:) == s2) );
+    
 end