Add <INSTALL_PREFIX>/mex/+wbc/examples path to the CMake templates …

…and conda scripts (#722)

- After changes introduced by robotology/whole-body-controllers#126

cmake/template/addPathsToUserEnvVariables.ps1.in

@@ -78,6 +78,7 @@ Add-ValueToUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"
 Add-ValueToUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\RRbot\robots";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\simulink";
+Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\examples";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox\images";
 @endcmakeif ROBOTOLOGY_USES_MATLAB

cmake/template/removePathsFromUserEnvVariables.ps1.in

@@ -81,6 +81,7 @@ Remove-ValueFromUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PR
 Remove-ValueFromUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\RRbot\robots";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\simulink";
+Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\examples";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox\images";
 @endcmakeif ROBOTOLOGY_USES_MATLAB

cmake/template/setup.bat.in

@@ -45,5 +45,5 @@ rem Set YARP and Gazebo related env variables
 set "YARP_DATA_DIRS=%YARP_DATA_DIRS%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\RRbot"
 set "GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\RRbot\robots"
 rem Configure the Matlab
-set "MATLABPATH=%MATLABPATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox\images"
+set "MATLABPATH=%MATLABPATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\examples;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox\images"
 @endcmakeif ROBOTOLOGY_USES_MATLAB

cmake/template/setup.sh.in

@@ -49,5 +49,5 @@ export PYTHONPATH=${PYTHONPATH:+${PYTHONPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_P
 export YARP_DATA_DIRS=$YARP_DATA_DIRS:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/RRbot
 export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/RRbot/robots
 # Configure the Matlab path
-export MATLABPATH=${MATLABPATH:+${MATLABPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/simulink:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox/images
+export MATLABPATH=${MATLABPATH:+${MATLABPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/simulink:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/examples:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox/images
 @endcmakeif ROBOTOLOGY_USES_MATLAB

cmake/template/startup_robotology_superbuild.m.in

@@ -8,10 +8,11 @@ fprintf('\nMATLAB Toolbox\n');
 installDir   = '@YCM_EP_INSTALL_DIR@';
 mexDir       = [installDir, filesep, 'mex'];
 simLibDir   = [installDir, filesep, 'mex/+wbc/simulink'];
+simModDir   = [installDir, filesep, 'mex/+wbc/examples'];
 shareDir     = [installDir, filesep, 'share/WBToolbox'];
 imgDir       = [shareDir, filesep, 'images'];
 
-for dirPath = {mexDir,simLibDir,shareDir,imgDir}
+for dirPath = {mexDir,simLibDir,simModDir,shareDir,imgDir}
     if exist(dirPath{1}, 'dir')
         addpath(dirPath{1});
     end
@@ -37,7 +38,7 @@ if (~savepath([fileDir, filesep, 'pathdef.m']))
         'This should be enough to permanentely add all the MATLAB-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, shareDir and imgDir to your matlabpath');
+    disp('There was an error generating pathdef.m To proceed please manually add the contents of variables mexDir, simLibDir, simModDir, shareDir and imgDir to your matlabpath');
 end
 
 % inform the user that it is possible to generate the goToWholeBodyControllers script

conda/multisheller/whole-body-controllers_activate.msh

@@ -1,5 +1,7 @@
 if_(is_set("COMSPEC")).then_([
-	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink"))
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink")),
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\examples"))
 ]).else_([
-	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink"))
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink")),
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/examples"))
 ])

conda/multisheller/whole-body-controllers_deactivate.msh

@@ -1,5 +1,7 @@
 if_(is_set("COMSPEC")).then_([
-	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink"))
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink")),
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\examples"))
 ]).else_([
-	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink"))
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink")),
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/examples"))
 ])

doc/cmake-options.md

@@ -283,7 +283,8 @@ Once this software has been compiled by the superbuild, you just need to add som
 In particular you need to add to the MATLAB path:
  * the `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex` directory,
  * the `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/WBToolbox` directory and all its subdirectories (except the packages which are folder names starting with "+"),
- * the library `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex/+wbc/simulink`.
+ * the library `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex/+wbc/simulink`,
+ * the controller model examples `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex/+wbc/examples`.
 
 #### Start MATLAB from the launcher or the application menu
 
@@ -292,6 +293,7 @@ You could add this line to your MATLAB script that uses the robotology-superbuil
 ~~~
     addpath(['<ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX>' '/mex'])
     addpath(['<ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX>' '/mex/+wbc/simulink'])
+    addpath(['<ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX>' '/mex/+wbc/examples'])
     addpath(['<ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX>' '/share/WBToolbox'])
     addpath(['<ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX>' '/share/WBToolbox/images'])
 ~~~

doc/environment-variables-configuration.md

@@ -72,6 +72,7 @@ export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:${ROBOTOLOGY_SUPERBUILD_INST
 For adding the multiple libraries to the MATLAB path, the environment variable `MATLABPATH` has to be appended with the following robotology-superbuild related directories:
 * `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex`
 * `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex/+wbc/simulink`
+* `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex/+wbc/examples`
 * `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/WBToolbox`
 * `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/WBToolbox/images`
 

scripts/install_robotology_packages.m

@@ -4,20 +4,20 @@ function install_robotology_packages(varargin)
     default_install_prefix = fullfile(pwd,'robotology-matlab');
     addOptional(p,'installPrefix', default_install_prefix);
     parse(p,varargin{:});
-      
+
     % Build package installation directory
     install_prefix = p.Results.installPrefix;
 
     setup_script = fullfile(pwd, 'robotology_setup.m');
-      
+
     if exist(install_prefix)
         fprintf('Directory %s already present. Please use it or delete to proceed with the install', install_prefix);
         return;
     end
 
     fprintf('Installing robotology MATLAB/Simulink binaries in %s\n', install_prefix);
 
-    % The install url is created following 
+    % The install url is created following
     mambaforge_url_prefix = 'https://github.com/conda-forge/miniforge/releases/latest/download/';
     if ispc
         mambaforge_installer_name = 'Mambaforge-Windows-x86_64.exe';
@@ -35,7 +35,7 @@ function install_robotology_packages(varargin)
         uname_m = strip(uname_m);
         mambaforge_installer_name = sprintf('Mambaforge-%s-%s.sh', uname, uname_m);
     end
-    
+
     fprintf('Downloading mambaforge installer \n');
     mambaforge_installer_url = strcat(mambaforge_url_prefix, mambaforge_installer_name);
     websave(mambaforge_installer_name, mambaforge_installer_url);
@@ -55,21 +55,21 @@ function install_robotology_packages(varargin)
         robotology_install_prefix = install_prefix;
     end
     fprintf('Installation of mambaforge completed\n');
-    
-    
+
+
 
     if ~exist(install_prefix, 'dir')
         fprintf('Installation in %s failed for unknown reason, please open an issue at https://github.com/robotology/robotology-superbuild/issues/new\n', install_prefix);
         return;
     end
-    
+
     % Install all the robotology packages related to MATLAB or Simulink
     fprintf('Installing robotology packages\n');
-    system(sprintf('%s install -y -c conda-forge -c robotology yarp-matlab-bindings idyntree wb-toolbox osqp-matlab whole-body-controllers matlab-whole-body-simulator icub-models', conda_full_path));    
+    system(sprintf('%s install -y -c conda-forge -c robotology yarp-matlab-bindings idyntree wb-toolbox osqp-matlab whole-body-controllers matlab-whole-body-simulator icub-models', conda_full_path));
     fprintf('Installation of robotology packages completed\n');
 
     fprintf('Creating setup script in %s', setup_script);
-    % Generate robotology_setup.m 
+    % Generate robotology_setup.m
     setupID = fopen(setup_script,'w');
     fprintf(setupID, '%% Specify OS-specific locations\n');
     fprintf(setupID, 'if ispc\n');
@@ -86,6 +86,7 @@ function install_robotology_packages(varargin)
     fprintf(setupID, '%% Add directory to MATLAB path\n');
     fprintf(setupID, 'addpath(fullfile(robotology_install_prefix,"mex"));\n');
     fprintf(setupID, 'addpath(fullfile(robotology_install_prefix,"mex/+wbc/simulink"));\n');
+    fprintf(setupID, 'addpath(fullfile(robotology_install_prefix,"mex/+wbc/examples"));\n');
     fprintf(setupID, 'addpath(fullfile(robotology_install_prefix,"share/WBToolbox"));\n');
     fprintf(setupID, 'addpath(fullfile(robotology_install_prefix,"share/WBToolbox/images"));\n');
     fprintf(setupID, '\n');