Make IKSolution iterable and add test

Author: jhavl

roboticstoolbox/robot/IK.py

@@ -54,6 +54,18 @@ class IKSolution:
     residual: float = 0.0
     reason: str = ""
 
+    def __iter__(self):
+        return iter(
+            (
+                self.q,
+                self.success,
+                self.iterations,
+                self.searches,
+                self.residual,
+                self.reason,
+            )
+        )
+
     def __str__(self):
 
         if self.q is not None:
@@ -1435,3 +1447,14 @@ def step(
         q += xd[: ets.n]
 
         return E, q
+
+
+if __name__ == "__main__":  # pragma nocover
+
+    sol = IKSolution(
+        np.array([1, 2, 3]), success=True, iterations=10, searches=100, residual=0.1
+    )
+
+    a, b, c, d, e = sol
+
+    print(a, b, c, d, e)

tests/test_IK.py

@@ -6,6 +6,7 @@
 import roboticstoolbox as rtb
 import numpy as np
 import unittest
+import numpy.testing as nt
 
 # import sympy
 import pytest
@@ -821,6 +822,24 @@ def test_sol_print5(self):
 
         self.assertEqual(s, ans)
 
+    def test_iter_iksol(self):
+        sol = rtb.IKSolution(
+            np.array([1.0, 2.0, 3.0]),
+            success=True,
+            iterations=10,
+            searches=100,
+            residual=0.1,
+        )
+
+        a, b, c, d, e, f = sol
+
+        nt.assert_almost_equal(a, np.array([1.0, 2.0, 3.0]))  # type: ignore
+        self.assertEqual(b, True)
+        self.assertEqual(c, 10)
+        self.assertEqual(d, 100)
+        self.assertEqual(e, 0.1)
+        self.assertEqual(f, "")
+
 
 if __name__ == "__main__":