Merge pull request #956 from robotology/traversaro-patch-4

Update whole-body-controllers in latest.releases.yaml to fix downstream usage of MomentumVelocityControl MATLAB functions
robotology · Dec 17, 2021 · 2914364 · 2914364
2 parents a503fc1 + a152601
commit 2914364
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Showing 8 changed files with 11 additions and 4 deletions.
diff --git a/cmake/template/addPathsToUserEnvVariables.ps1.in b/cmake/template/addPathsToUserEnvVariables.ps1.in
@@ -81,6 +81,7 @@ 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\simulink\MomentumVelocityControl";
 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";

diff --git a/cmake/template/removePathsFromUserEnvVariables.ps1.in b/cmake/template/removePathsFromUserEnvVariables.ps1.in
@@ -84,6 +84,7 @@ 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\simulink\MomentumVelocityControl";
 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";

diff --git a/cmake/template/setup.bat.in b/cmake/template/setup.bat.in
@@ -48,5 +48,5 @@ 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%\mex\+wbc\examples;%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\simulink\MomentumVelocityControl;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\examples;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox\images"
 @endcmakeif ROBOTOLOGY_USES_MATLAB
diff --git a/cmake/template/setup.sh.in b/cmake/template/setup.sh.in
@@ -51,5 +51,5 @@ 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}/mex/+wbc/examples:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox/images
+export MATLABPATH=${MATLABPATH:+${MATLABPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/simulink/MomentumVelocityControl:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/simulink:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/examples:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox/images
 @endcmakeif ROBOTOLOGY_USES_MATLAB
diff --git a/cmake/template/startup_robotology_superbuild.m.in b/cmake/template/startup_robotology_superbuild.m.in
@@ -8,11 +8,12 @@ fprintf('\nMATLAB Toolbox\n');
 installDir   = '@YCM_EP_INSTALL_DIR@';
 mexDir       = [installDir, filesep, 'mex'];
 simLibDir   = [installDir, filesep, 'mex/+wbc/simulink'];
+simLibMomVelDir   = [installDir, filesep, 'mex/+wbc/simulink/MomentumVelocityControl'];
 simModDir   = [installDir, filesep, 'mex/+wbc/examples'];
 shareDir     = [installDir, filesep, 'share/WBToolbox'];
 imgDir       = [shareDir, filesep, 'images'];
 
-for dirPath = {mexDir,simLibDir,simModDir,shareDir,imgDir}
+for dirPath = {mexDir,simLibDir,simLibMomVelDir,simModDir,shareDir,imgDir}
     if exist(dirPath{1}, 'dir')
         addpath(dirPath{1});
     end

diff --git a/conda/multisheller/whole-body-controllers_activate.msh b/conda/multisheller/whole-body-controllers_activate.msh
@@ -1,7 +1,9 @@
 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\\MomentumVelocityControl")),
 	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/MomentumVelocityControl")),
 	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/examples"))
 ])
diff --git a/conda/multisheller/whole-body-controllers_deactivate.msh b/conda/multisheller/whole-body-controllers_deactivate.msh
@@ -1,7 +1,9 @@
 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\\MomentumVelocityControl")),
 	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/MomentumVelocityControl")),
 	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/examples"))
 ])
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
@@ -102,7 +102,7 @@ repositories:
   whole-body-controllers:
     type: git
     url: https://github.com/robotology/whole-body-controllers.git
-    version: v2.5.5
+    version: v2.5.6
   whole-body-estimators:
     type: git
     url: https://github.com/robotology/whole-body-estimators.git