Added __str__ functions to capture pb/sols

capture_walking/capture_problem.py

@@ -78,6 +78,19 @@ def __init__(self, lambda_min, lambda_max, nb_steps):
         self.s_sq = s_sq
         self.target_height = None
 
+    def __str__(self):
+        s = "delta = %s;\n" % str(list(self.delta))
+        s += "g = %.32f;\n" % gravity_const
+        s += "init_omega_max = %.32f;\n" % self.init_omega_max
+        s += "init_omega_min = %.32f;\n" % self.init_omega_min
+        s += "init_zbar = %.32f;\n" % self.init_zbar
+        s += "init_zbar_deriv = %.32f;\n" % self.init_zbar_deriv
+        s += "lambda_max = %.32f;\n" % self.lambda_max
+        s += "lambda_min = %.32f;\n" % self.lambda_min
+        s += "s = %s;\n" % str(list(self.s))
+        s += "target_height = %.32f;" % self.target_height
+        return s
+
     def precompute(self):
         """
         Precompute QR decompositions for all nullspace-projected Jacobians used

capture_walking/capture_solution.py

@@ -53,6 +53,9 @@ def __init__(self, phi_1_n, capture_pb, optimal_found=None):
         self.s = capture_pb.s
         self.switch_times = None
 
+    def __str__(self):
+        return "phi = %s;" % str(list(self.phi))
+
     @property
     def var_cost(self):
         """