Correct name of tree print function

Author: LemonPi

.gitignore

@@ -7,6 +7,7 @@ __pycache__
 temp*
 build
 dist
+*.pyc
 # These are cloned/generated when testing with mujoco
 tests/MUJOCO_LOG.TXT
 tests/mujoco_menagerie/

src/pytorch_kinematics/chain.py

@@ -281,7 +281,7 @@ def get_link_names(self):
     def get_frame_indices(self, *frame_names):
         return torch.tensor([self.frame_to_idx[n] for n in frame_names], dtype=torch.long, device=self.device)
 
-    def print_link_tree(self, do_print=True):
+    def print_tree(self, do_print=True):
         tree = str(self._root)
         if do_print:
             print(tree)

tests/test_serial_chain_creation.py

@@ -29,7 +29,7 @@ def test_extract_serial_chain_from_tree():
                                     ├── right_finger_link
                                     └── ee_gripper_link
     """
-    full_frame = chain.print_link_tree()
+    full_frame = chain.print_tree()
     assert full_frame_expected.strip() == full_frame.strip()
 
     serial_chain = pk.SerialChain(chain, "ee_gripper_link", "base_link")
@@ -46,7 +46,7 @@ def test_extract_serial_chain_from_tree():
                                 └── fingers_link
                                     └── ee_gripper_link
     """
-    serial_frame = serial_chain.print_link_tree()
+    serial_frame = serial_chain.print_tree()
     assert serial_frame_expected.strip() == serial_frame.strip()
 
     # full chain should have DOF = 8, however since we are creating just a serial chain to ee_gripper_link, should be 6
@@ -65,7 +65,7 @@ def test_extract_serial_chain_from_tree():
                         └── ee_arm_link
                             └── gripper_prop_link
     """
-    serial_frame = serial_chain.print_link_tree()
+    serial_frame = serial_chain.print_tree()
     assert serial_frame_expected.strip() == serial_frame.strip()
 
     serial_chain = pk.SerialChain(chain, "ee_gripper_link", "gripper_link")
@@ -76,7 +76,7 @@ def test_extract_serial_chain_from_tree():
         └── fingers_link
             └── ee_gripper_link
         """
-    serial_frame = serial_chain.print_link_tree()
+    serial_frame = serial_chain.print_tree()
     assert serial_frame_expected.strip() == serial_frame.strip()
     # only gripper_link is the parent frame of a joint in this serial chain
     assert serial_chain.n_joints == 1