Improve CasADi code-generation (#11)

Co-authored-by: Silvio Traversaro <silvio@traversaro.it>

+mystica/+state/@StateKinMBody/StateKinMBody.m

@@ -55,16 +55,31 @@ function clearProperties(obj)
         end
 
         function generateMEX(obj)
+            nameMEX = 'mystica_stateKin';
             opts = struct('main', true,'mex', true);
-            C = casadi.CodeGenerator('mystica_stateKin.c',opts);
+            initial_path = pwd;
+            cd(fullfile(mystica.utils.getMysticaFullPath,'deps','csdMEX'));
+            C = casadi.CodeGenerator([nameMEX,'.c'],opts);
             C.add(obj.csdFn.Jc);
             C.add(obj.csdFn.intJcV);
             C.add(obj.csdFn.rC_from_jointsAngVelPJ_2_jointsAngVel0);
             C.add(obj.csdFn.rC_from_mBodyTwist0_2_jointsAngVelPJ);
             C.add(obj.csdFn.get_mBodyVelQuat0_from_mBodyTwist0)
             C.generate();
-            mex mystica_stateKin.c -largeArrayDims
-            delete('mystica_stateKin.c')
+            fileID = fopen([nameMEX,'.c']    ,'r'); new_code = fscanf(fileID,'%s'); fclose(fileID);
+            if exist([nameMEX,'_old.c'],'file')
+                fileID = fopen([nameMEX,'_old.c'],'r'); old_code = fscanf(fileID,'%s'); fclose(fileID);
+            else
+                old_code = '';
+            end
+            if ~strcmp(new_code,old_code) || isempty(dir([nameMEX,'.mex*']))
+                fprintf('generating %s.mex\n',nameMEX)
+                mex([nameMEX,'.c'],'-largeArrayDims')
+            else
+                fprintf('%s.mex already exists\n',nameMEX)
+            end
+            movefile([nameMEX,'.c'],[nameMEX,'_old.c'])
+            cd(initial_path)
         end
 
         function tform_b = get_link_tform_b(obj,input)

+mystica/+utils/getMysticaFullPath.m

@@ -0,0 +1,6 @@
+function p = getMysticaFullPath()
+    initial_path = pwd;
+    cd(fullfile(fileparts(mfilename('fullpath')),'..','..'));
+    p = pwd;
+    cd(initial_path);
+end

+mystica/runSimDynRel.m

@@ -59,7 +59,6 @@
     %% Saving Workspace
 
     clear ans k kVec motorsCurrent mBodyPosQuat_0 tout dataLiveStatistics
-    mystica.utils.deleteGeneratedMEX
 
     if stgs.saving.workspace.run
         if stgs.saving.workspace.clearCasadi

+mystica/runSimKinAbs.m

@@ -52,7 +52,6 @@
     %% Saving Workspace
 
     clear ans k kVec mBodyTwist_0 mBodyPosQuat_0 tout
-    mystica.utils.deleteGeneratedMEX
 
     if stgs.saving.workspace.run
         if stgs.saving.workspace.clearCasadi

+mystica/runSimKinRel.m

@@ -62,7 +62,6 @@
     %% Saving Workspace
 
     clear ans k kVec motorsAngVel motorsAngVelNoise mBodyPosQuat_0 tout dataLiveStatistics
-    mystica.utils.deleteGeneratedMEX
 
     if stgs.saving.workspace.run
         if stgs.saving.workspace.clearCasadi

README.md

@@ -31,6 +31,7 @@ The _maximal_ representation consists of a set of _non-minimum_ variables 𝐪 c
 ## :hammer: Dependencies
 
 - [`matlab`](https://mathworks.com/)
+- a matlab [supported-compilers](https://mathworks.com/support/requirements/supported-compilers.html) for MEX-file compilation
 
 Other requisites are:
 

install.m

@@ -64,6 +64,15 @@ function install(input)
     system(sprintf('"%s" env config vars set MATLABPATH="%s" -p "%s"',mamba_full_path,matlab_path_env,env_full_path));
     fprintf('Installing mystica meshes folder completed\n')
 
+    %% Create csdMEX folder
+
+    fprintf('Installing mystica csdMEX folder\n')
+    mystica_csdMEX_fullpath = fullfile(mystica_fullpath,'deps','csdMEX');
+    mkdir(mystica_csdMEX_fullpath)
+    matlab_path_env = strcat( mystica_csdMEX_fullpath , env_sep , matlab_path_env );
+    system(sprintf('"%s" env config vars set MATLABPATH="%s" -p "%s"',mamba_full_path,matlab_path_env,env_full_path));
+    fprintf('Installing mystica meshes folder completed\n')
+
     %% Creation of setup.m
 
     fprintf('Creating setup script in %s\n', setup_script);
@@ -80,6 +89,7 @@ function install(input)
     fprintf(setupID,'install_prefix          = "%s";\n', install_prefix);
     fprintf(setupID,'mystica_fullpath        = "%s";\n', mystica_fullpath);
     fprintf(setupID,'mystica_meshes_fullpath = "%s";\n', mystica_meshes_fullpath);
+    fprintf(setupID,'mystica_csdMEX_fullpath = "%s";\n', mystica_csdMEX_fullpath);
     fprintf(setupID,'\n');
     fprintf(setupID,'%% AddPath packages installed with conda\n');
     fprintf(setupID,'addpath(fullfile(pckgs_install_prefix,"mex"));\n');
@@ -93,6 +103,9 @@ function install(input)
     fprintf(setupID,'%% AddPath mystica meshes\n');
     fprintf(setupID,'addpath(mystica_meshes_fullpath);\n');
     fprintf(setupID,'\n');
+    fprintf(setupID,'%% AddPath mystica csdMEX\n');
+    fprintf(setupID,'addpath(mystica_csdMEX_fullpath);\n');
+    fprintf(setupID,'\n');
     fprintf(setupID,'%% Add to the env:"PATH" the directory with the packages installed with conda\n');
     fprintf(setupID,'setenv("PATH",strcat(fullfile(pckgs_install_prefix,"bin"), env_sep, getenv("PATH")));\n');
     fclose( setupID);