function [] = describeStewartPlatform(stewart)
% describeStewartPlatform - Display some text describing the current defined Stewart Platform
%
% Syntax: [] = describeStewartPlatform(args)
%
% Inputs:
%    - stewart
%
% Outputs:

arguments
    stewart
end

fprintf('GEOMETRY:\n')
fprintf('- The height between the fixed based and the top platform is %.3g [mm].\n', 1e3*stewart.geometry.H)

if stewart.platform_M.MO_B(3) > 0
    fprintf('- Frame {A} is located %.3g [mm] above the top platform.\n',  1e3*stewart.platform_M.MO_B(3))
else
    fprintf('- Frame {A} is located %.3g [mm] below the top platform.\n', - 1e3*stewart.platform_M.MO_B(3))
end

fprintf('- The initial length of the struts are:\n')
fprintf('\t %.3g, %.3g, %.3g, %.3g, %.3g, %.3g [mm]\n', 1e3*stewart.geometry.l)
fprintf('\n')

fprintf('ACTUATORS:\n')
if stewart.actuators.type == 1
    fprintf('- The actuators are modelled as 1DoF.\n')
    fprintf('- The Stiffness and Damping of each actuators is:\n')
    fprintf('\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.k(1), stewart.actuators.c(1))
    if stewart.actuators.kp > 0
    fprintf('\t Added parallel stiffness: kp = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.kp(1))
    end
elseif stewart.actuators.type == 2
    fprintf('- The actuators are modelled as 2DoF (APA).\n')
    fprintf('- The vertical stiffness and damping contribution of the piezoelectric stack is:\n')
    fprintf('\t ka = %.0e [N/m] \t ca = %.0e [N/(m/s)]\n', stewart.actuators.ka(1), stewart.actuators.ca(1))
    fprintf('- Vertical stiffness when the piezoelectric stack is removed is:\n')
    fprintf('\t kr = %.0e [N/m] \t cr = %.0e [N/(m/s)]\n', stewart.actuators.kr(1), stewart.actuators.cr(1))
elseif stewart.actuators.type == 3
    fprintf('- The actuators are modelled with a flexible element (FEM).\n')
end
fprintf('\n')

fprintf('JOINTS:\n')

switch stewart.joints_F.type
  case 1
    fprintf('- The joints on the fixed based are universal joints (2DoF)\n')
  case 2
    fprintf('- The joints on the fixed based are spherical joints (3DoF)\n')
end

switch stewart.joints_M.type
  case 1
    fprintf('- The joints on the mobile based are universal joints (2DoF)\n')
  case 2
    fprintf('- The joints on the mobile based are spherical joints (3DoF)\n')
end

fprintf('- The position of the joints on the fixed based with respect to {F} are (in [mm]):\n')
fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_F.Fa)

fprintf('- The position of the joints on the mobile based with respect to {M} are (in [mm]):\n')
fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_M.Mb)
fprintf('\n')

fprintf('KINEMATICS:\n')

if isfield(stewart.kinematics, 'K')
    fprintf('- The Stiffness matrix K is (in [N/m]):\n')
    fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.K)
end

if isfield(stewart.kinematics, 'C')
    fprintf('- The Damping matrix C is (in [m/N]):\n')
    fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.C)
end