- Implement toString() method for the QPInverseKinematics

- the toString() method is now a virtual method of ILinearTaskSolver

src/IK/include/BipedalLocomotion/IK/QPInverseKinematics.h

@@ -128,6 +128,12 @@ class QPInverseKinematics : public IntegrationBasedIK
      * nullptr is returned.
      */
     std::weak_ptr<Task> getTask(const std::string& name) const override;
+
+    /**
+     * Return the description of the InverseKinematics problem.
+     * @return a string containing the description of the solver.
+     */
+    std::string toString() const override;
 };
 } // namespace IK
 } // namespace BipedalLocomotion

src/IK/src/QPInverseKinematics.cpp

@@ -463,3 +463,21 @@ bool QPInverseKinematics::initialize(std::weak_ptr<const ParametersHandler::IPar
 
     return true;
 }
+
+std::string QPInverseKinematics::toString() const
+{
+    std::ostringstream oss;
+
+    oss << "====== QPInverseKinematics class ======" << std::endl
+        << "The optimization problem is composed by the following tasks:" << std::endl;
+    for (const auto& [name, task] : m_pimpl->tasks)
+    {
+        oss << "\t - " << name << ": " << task.task->getDescription()
+            << " Priority: " << task.priority << "." << std::endl;
+    }
+    oss << "Note: The lower is the integer associated to the priority, the higher is the priority."
+        << std::endl
+        << "==========================" << std::endl;
+
+    return oss.str();
+}

src/System/include/BipedalLocomotion/System/ILinearTaskSolver.h

@@ -78,6 +78,12 @@ template <class _Task, class _State> class ILinearTaskSolver : public Source<_St
      */
     virtual std::weak_ptr<Task> getTask(const std::string& name) const = 0;
 
+    /**
+     * Return the description of the solver problem.
+     * @return a string containing the description of the solver.
+     */
+    virtual std::string toString() const = 0;
+
     /**
      * Destructor.
      */

src/TSID/include/BipedalLocomotion/TSID/QPTSID.h

@@ -129,7 +129,7 @@ class QPTSID : public TaskSpaceInverseDynamics
     /**
      * Return the description of the TSID problem.
      */
-    std::string toString() const;
+    std::string toString() const override;
 };
 
 } // namespace TSID