The Samsung iPad app is clear, simple and does what it says.
You can print pictures direct from your camera or also from your roll. Just make sure you allow the app to use your location information, otherways you will not see any picture. Why? I dont knbow.
It works great with Google docs. If you happen to use this Google service, just log in and go, no hassle.
Web print: just type your desired URL and it will make a screenshot. You can uncheck the pages you dont need and hit the green button to print.
Scanner: As long as the app recognizes a Samsung printer with scanner feature i guess the scanner icon with be highligted.
Please leave a comment if you made a real test with a Samsung printer attached.