Zathura is a document viewer. It reminds me a bit of vim to use.
Commands
To enter a command in Zathura you type a colon followed by the command. E.g. To print, type the following:
:print
This will open your standard (GTK+) print dialog where you can set up the print job.
To save the document as [filename]:
:write [filename]
Commands ignored?
I had a problem with Zathura whereby it was ignoring any keyboard input after the colon. To fix this I upgraded both zathura and zathura-pdf-poppler to 0.2.0 and girara (a dependency) to 0.1.3.
These were masked in portage so I had to unmask in the usual way by adding each package name to /etc/portage/package.keywords.