Controllers dev

CMakeLists.txt

@@ -59,3 +59,11 @@ enable_testing()
 
 add_subdirectory(tests)
 
+#STARTUP MEX-TOOLBOX
+# The following line is to properly configure the installation script of the Mex-toolbox
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/startup_Mex.m.in ${CMAKE_BINARY_DIR}/startup_Mex.m)
+# Install configuration files
+install(FILES ${CMAKE_BINARY_DIR}/startup_Mex.m DESTINATION ${CMAKE_INSTALL_PREFIX}/mex)
+
+
+

startup_Mex.m.in

@@ -0,0 +1,45 @@
+%% startup_Mex.m
+%  Run this script only once to permanently add the required folders for using mexWholebodymodel toolbox  to your 
+%  MATLAB path. 
+
+fprintf('\nmexWholeBodyModel Toolbox\n');
+
+installDir = '@CMAKE_BINARY_DIR@/install';
+mexDir     = [installDir, filesep, 'mex'];
+mexWrapDir = [mexDir, filesep, 'mexwbi-wrappers'];
+mexUtDir   = [mexDir, filesep, 'mexwbi-utilities'];
+
+if exist(mexDir, 'dir')
+    addpath(mexDir);
+end
+
+if exist(mexUtDir, 'dir')
+    addpath(mexDir);
+end
+
+if exist(mexWrapDir, 'dir')
+    addpath(mexDir);
+end
+
+fileDir               = userpath;
+pathSeparatorLocation = strfind(fileDir, pathsep);
+
+if isempty(fileDir)
+    error('Empty userpath. Please set the userpath before running this script');
+elseif size(pathSeparatorLocation, 2) > 1
+    error('Multiple userpaths. Please set a single userpath before running this script');
+end
+
+if (~isempty(pathSeparatorLocation))
+    fileDir(pathSeparatorLocation) = [];
+end
+
+fprintf('Saving paths to %s\n\n', [fileDir, filesep, 'pathdef.m']);
+
+if (~savepath([fileDir, filesep, 'pathdef.m']))
+    fprintf(['A file called pathdef.m has been created in your %s folder.\n', ...
+        'This should be enough to permanentely add all the Mex-Toolbox to ', ...
+        'your MATLAB installation.\n'], fileDir);
+else
+    disp('There was an error generating pathdef.m To proceed please manually add the contents of variables mexDir, mexUtDir, mexWrapDir to your matlabpath');
+end