robotology · gabrielenava · Mar 23, 2020 · Mar 21, 2020 · Mar 21, 2020 · Mar 21, 2020
diff --git a/.clang-format b/.clang-format
@@ -64,6 +64,10 @@ IncludeCategories:
     Priority:        2
   - Regex:           '^(<|"(gtest|gmock|isl|json)/)'
     Priority:        3
+  - Regex:           '^"rtwtypes'
+    Priority:        -1
+  - Regex:           '^"tmwtypes'
+    Priority:        -1
   - Regex:           '.*'
     Priority:        1
 IncludeIsMainRegex: '(Test)?$'
@@ -89,7 +93,7 @@ PenaltyExcessCharacter: 1000000
 PenaltyReturnTypeOnItsOwnLine: 60
 PointerAlignment: Left
 ReflowComments:  true
-SortIncludes:    false
+SortIncludes:    true
 SortUsingDeclarations: true
 SpaceAfterCStyleCast: true
 SpaceAfterTemplateKeyword: true

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -7,14 +7,16 @@ project(whole-body-controllers)
 option(WBC_EXPORT_AUTOGENERATED "Enable the target to export code generated with Simulink Coder" OFF)
 option(WBC_INSTALL_ALL_HOME_POS "Installation of all available home positions" ON)
 
-# ======================
-# Install home positions 
-# ======================
+# ======================================
+# Install home positions and WBC library 
+# ======================================
 
 find_package(YARP REQUIRED)
 yarp_configure_external_installation(wbc)
 
 add_subdirectory(utilities)
+add_subdirectory(library)
+add_subdirectory(config)
 
 # ======================
 # Autogeneration routine 
@@ -51,8 +53,7 @@ file(WRITE "${CMAKE_BINARY_DIR}/autogenerated/CMakeLists.txt" "# Exported contro
 # Find clang-format
 find_program(ClangFormat_EXECUTABLE
     DOC "Path to the clang-format executable."
-    NAMES clang-format clang-format-7.0 clang-format-6.0 clang-format-5.0 clang-format-4.0
-    )
+    NAMES clang-format clang-format-9 clang-format-8 clang-format-7 clang-format-6.0 clang-format-5.0 clang-format-4.0)
 configure_file(${CMAKE_SOURCE_DIR}/.clang-format ${CMAKE_BINARY_DIR}/.clang-format COPYONLY)
 
 # Copy only h and cpp files
@@ -62,17 +63,21 @@ foreach(SOURCEDIR ${AUTOGENERATED_FOLDERS})
     file(APPEND "${CMAKE_BINARY_DIR}/autogenerated/CMakeLists.txt" "add_subdirectory(${MDLDIRNAME})\n")
     file(MAKE_DIRECTORY "${MDLDESTDIR}")
     string(REGEX MATCH "[^_]*" MDL_NAME ${MDLDIRNAME}) # Remove _gtw_rtw
+    # Create the CMakeLists.txt of the model
     configure_file(
         "${CMAKE_SOURCE_DIR}/cmake/CreateAutogeneratedCodeTargets.cmake.in"
         "${MDLDESTDIR}/CMakeLists.txt"
-        @ONLY
-        )
+        @ONLY)
+    # Copy the main file
+    configure_file(
+        "${PROJECT_SOURCE_DIR}/src/driver.cpp.in"
+        "${MDLDESTDIR}/driver.cpp"
+        @ONLY)
     # Copy sources to the build directory
     add_custom_command(TARGET copy-autogenerated-models
         PRE_BUILD
         COMMAND ${CMAKE_COMMAND} -E copy "${SOURCEDIR}/*.h" "${SOURCEDIR}/*.cpp" "${SOURCEDIR}/defines.txt" "${MDLDESTDIR}"
-        COMMENT "Copying ${MDLDIRNAME} to the build folder."
-        )
+        COMMENT "Copying ${MDLDIRNAME} to the build folder.")
     # Apply clang-format style
     if(NOT ${ClangFormat_EXECUTABLE} STREQUAL "ClangFormat_EXECUTABLE-NOTFOUND")
         add_custom_command(TARGET copy-autogenerated-models
@@ -86,5 +91,4 @@ endforeach()
 add_custom_command(TARGET copy-autogenerated-models
     POST_BUILD
     COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_BINARY_DIR}/autogenerated" "${AUTOGENERATED_WBC_SOURCE_DIR}/autogenerated"
-    COMMENT "Copying generated files to ${AUTOGENERATED_WBC_SOURCE_DIR}/autogenerated"
-    )
+    COMMENT "Copying generated files to ${AUTOGENERATED_WBC_SOURCE_DIR}/autogenerated")
diff --git a/README.md b/README.md
@@ -12,29 +12,37 @@ The repository contains `Simulink-based whole-body controllers` developed to con
 
 - The controllers stored in this repository are an **overview** of the possibile control frameworks that can be implemented using the `robotology` software infrastructure. Also, the repository contains a [library](library/README.md) of configuration and utility Matlab functions to design simulations with [Gazebo](http://gazebosim.org/) simulator and on the real robot iCub. 
 
-- The robot dynamics and kinematics is computed run-time by means of [WBToolbox](https://github.com/robotology/wb-toolbox), a Simulink libary that wraps [iDyntree](https://github.com/robotology/idyntree). For more information on iDyntree library, see also this [README](https://github.com/robotology/idyntree/blob/master/README.md). 
+- The robot dynamics and kinematics is computed run-time by means of [WBToolbox](https://github.com/robotology/wb-toolbox), a Simulink library that wraps [iDyntree](https://github.com/robotology/idyntree). For more information on iDyntree library, see also this [README](https://github.com/robotology/idyntree/blob/master/README.md). 
 
 - The Simulink models implement different control strategies both for fixed-base and for floating-base robots. They space from `momentum-based` torque control to `inverse-kinematics-based` position control. Have a look at the [controllers](controllers/README.md) folder for more details.
 
 ## Dependencies
 
 This repository depends upon the following Software:
 
+- [CMake](https://cmake.org/), at least version **3.5**.
 - [Matlab/Simulink](https://it.mathworks.com/products/matlab.html), default version **R2017b**.
 - [WB-Toolbox](https://github.com/robotology/WB-Toolbox) and [blockfactory](https://github.com/robotology/blockfactory).
 - [Gazebo Simulator](http://gazebosim.org/), default version **9.0**.
 - [gazebo-yarp-plugins](https://github.com/robotology/gazebo-yarp-plugins).
 - [icub-gazebo](https://github.com/robotology/icub-gazebo), [icub-gazebo-wholebody](https://github.com/robotology-playground/icub-gazebo-wholebody) and [icub-models](https://github.com/robotology/icub-models) to access iCub models.
-- [codyco-modules](https://github.com/robotology/codyco-modules) (**Optional**, for using [wholeBodyDynamics](https://github.com/robotology/codyco-modules/tree/master/src/devices/wholeBodyDynamics) device).
+- [whole-body-estimators](https://github.com/robotology/whole-body-estimators) (**Optional**, for using [wholeBodyDynamics](https://github.com/robotology/whole-body-estimators/tree/master/devices/wholeBodyDynamics) device).
 - [YARP](https://github.com/robotology/yarp) and [icub-main](https://github.com/robotology/icub-main).
 
 ## Installation and usage
 
 The repository is usually tested and developed on **Ubuntu** and **macOS** operating systems. Some functionalities may not work properly on **Windows**.
 
-**NOTE:** it is suggested to install `whole-body-controllers` and most of its dependencies (namely, `YARP`, `icub-main`, `codyco-modules`,`icub-gazebo`,`icub-gazebo-wholebody`, `icub-models`, `gazebo-yarp-plugins`, `blockfactory` and `WB-Toolbox` and their dependencies) using the [robotology-superbuild](https://github.com/robotology/robotology-superbuild) (enable `ROBOTOLOGY_USES_GAZEBO`, `ROBOTOLOGY_ENABLE_DYNAMICS`, `ROBOTOLOGY_USES_MATLAB` options).
+- **NOTE:** it is suggested to install `whole-body-controllers` and most of its dependencies (namely, `YARP`, `icub-main`, `whole-body-estimators`,`icub-gazebo`,`icub-gazebo-wholebody`, `icub-models`, `gazebo-yarp-plugins`, `blockfactory` and `WB-Toolbox` and their dependencies) using the [robotology-superbuild](https://github.com/robotology/robotology-superbuild) (enable `ROBOTOLOGY_USES_GAZEBO`, `ROBOTOLOGY_ENABLE_DYNAMICS`, `ROBOTOLOGY_USES_MATLAB` options).
 
-- Otherwise, after intalling all the dependencies, **clone the repository** on your pc by running on a terminal `git clone https://github.com/robotology/whole-body-controllers`, or download the repository.
+- Otherwise, after installing all the dependencies, **clone the repository** on your pc by running on a terminal `git clone https://github.com/robotology/whole-body-controllers`, or download the repository. Then (on Ubuntu), open a terminal from the folder where you downloaded whole-body-controllers and run:
+
+   ```
+   mkdir build
+   cd build
+   ccmake ..
+   ``` 
+   in the GUI that it will open, set the `CMAKE_PREFIX_PATH` as your desired installation folder. Then, run `make install`.
 
 - Set the environmental variable `YARP_ROBOT_NAME` in your `.bashrc` file (or equivalent) to be the name of the robot you want to control. List of supported robot names:
 
@@ -45,26 +53,21 @@ The repository is usually tested and developed on **Ubuntu** and **macOS** opera
   | iCubGazeboV2_5|[model.urdf](https://github.com/robotology/icub-models/blob/master/iCub/robots/iCubGazeboV2_5/model.urdf)|
   | icubGazeboSim |[model.urdf](https://github.com/robotology/yarp-wholebodyinterface/blob/master/app/robots/icubGazeboSim/model.urdf) |
 
-- **IMPORTANT!** to use the WBC Simulink controllers, it is **required** to add the [matlab-wbc](library/matlab-wbc) folder to the Matlab path. There are two possible ways to add the folder to the path:
+- **IMPORTANT!** to use the WBC Simulink controllers, it is **required** to add the **installed** [+wbc](library/matlab-wbc/+wbc) folder to the Matlab path. There are two possible ways to add the folder to the Matlab path:
 
-   - `manually` and `permanently` add the folder to the Matlab path;
-   - run **only once** the [startup_WBC.m](config/startup_WBC.m) script. In this case, path is **not** permanently added to Matlab, and it is required to **always** start Matlab from the folder where your `pathdef.m` file is (usually `~/Documents/MATLAB`). To facilitate the reaching of the WBC working folder from the folder containing the `pathdef.m`, a `goToWholeBodyController.m` script will be automatically created in that folder. Run it to jump to the WBC folder. For further information see also the [WBToolbox documentation](https://robotology.github.io/wb-toolbox/mkdocs/install/#matlab). **WARNING**: if the repository is installed through the `robotology-superbuild`, **DO NOT** run the `startup_WBC.m` file but instead run the [startup_robotology_superbuild.m](https://github.com/robotology/robotology-superbuild/blob/master/cmake/template/startup_robotology_superbuild.m.in) file that comes along with robotology-superbuild installation. The result will be the same.  
-   - **Note**: to use any function inside the package [matlab-wbc/+wbc](library/matlab-wbc/+wbc), add the `wbc` prefix to the function name when the function is invoked, i.e. `[outputs] = wbc.myFunction(inputs)`. More information on packages can be found in the [Matlab documentation](https://it.mathworks.com/help/matlab/matlab_oop/scoping-classes-with-packages.html).
+   **1a.** `manually` and `permanently` add the folder to the Matlab path;
 
-- There are some functionalities of the repo such as the [automatic generation of c++ code from Simulink](https://github.com/robotology/whole-body-controllers#automatic-generation-of-c-code-from-simulink) that require to compile and install the repository using `cmake`. To do so (on Ubuntu), open a terminal from the folder where you installed whole-body-controllers and run:
+   **1b.** run **only once** the [startup_WBC.m](config/startup_WBC.m.in) script, which is installed in your `${BUILD}` folder. In this case, path is **not** permanently added to Matlab, and it is required to **always** start Matlab from the folder where your `pathdef.m` file is (usually `~/Documents/MATLAB`). To facilitate the reaching of the WBC working folder from the folder containing the `pathdef.m`, a `goToWholeBodyController.m` script can be [automatically created](config/createGoToWBC.m) in that folder. Run it to jump to the WBC folder. For further information on the installation procedure see also the [WBToolbox documentation](https://robotology.github.io/wb-toolbox/mkdocs/install/#matlab).
+    **WARNING**: if the repository is installed through the `robotology-superbuild`, **DO NOT** run the `startup_WBC.m` file but instead run the [startup_robotology_superbuild](https://github.com/robotology/robotology-superbuild/blob/master/cmake/template/startup_robotology_superbuild.m.in) file that comes along with robotology-superbuild installation.
+   - **Note**: to use any function inside the package [matlab-wbc/+wbc](library/matlab-wbc/+wbc), add the `wbc` prefix to the function name when the function is invoked, i.e. `[outputs] = wbc.myFunction(inputs)`. More information on packages can be found in the [Matlab documentation](https://it.mathworks.com/help/matlab/matlab_oop/scoping-classes-with-packages.html).
 
-   ```
-   mkdir build
-   cd build
-   ccmake ..
-   ``` 
-   then in the GUI that it will open, set the `CMAKE_PREFIX_PATH` as your desired installation folder. Then, run `make install`.
+- There are some functionalities of the repo such as the [automatic generation of c++ code from Simulink](https://github.com/robotology/whole-body-controllers#automatic-generation-of-c-code-from-simulink) that require to enable not-default cmake options. Check the available options by running `ccmake .` in your `build` directory.
 
 ## Troubleshooting
 
 Please refer to the [WBToolbox troubleshooting documentation](https://robotology.github.io/wb-toolbox/mkdocs/troubleshooting/).
 
-## Structure of the repo
+## Relevant folders of the repo
 
 - **config**: a collection of scripts to correctly configure this repo. [[README]](config/README.md)
 

diff --git a/cmake/CreateAutogeneratedCodeTargets.cmake.in b/cmake/CreateAutogeneratedCodeTargets.cmake.in
@@ -1,22 +1,29 @@
+# Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# GNU Lesser General Public License v2.1 or any later version.
+
+find_package(BlockFactory COMPONENTS SimulinkCoder REQUIRED)
+
+# ===============================================
 # Generate a library from the autogenerated class
 # ===============================================
 
-set(MDL_NAME @MDL_NAME@)
-add_generated_code_lib(MODELNAME ${MDL_NAME})
+include(TargetFromGeneratedCode)
+set(SIMULINK_MODEL_NAME "@MDL_NAME@")
 
+# This macro creates a target named as the mdl file for the autogenerated class
+target_from_generated_code(
+    MODELNAME ${SIMULINK_MODEL_NAME}
+    SOURCE_FOLDER ${CMAKE_CURRENT_SOURCE_DIR})
+
+# ================================
 # Test executable with custom main
 # ================================
 
 # Set the target name for the custom driver
-set(CODER_MAIN "CoderMain_${MDL_NAME}")
-
-configure_file(
-    "${PROJECT_SOURCE_DIR}/src/driver.cpp.in"
-    "${CMAKE_CURRENT_BINARY_DIR}/driver.cpp"
-    @ONLY)
+set(CODER_MAIN "Run${SIMULINK_MODEL_NAME}")
 
 add_executable(${CODER_MAIN}
-    "${CMAKE_CURRENT_BINARY_DIR}/driver.cpp"
-)
+    "${CMAKE_CURRENT_SOURCE_DIR}/driver.cpp")
 
-target_link_libraries(${CODER_MAIN} PUBLIC ${MDL_NAME}_LIB)
+target_link_libraries(${CODER_MAIN} PUBLIC ${SIMULINK_MODEL_NAME})
diff --git a/cmake/RegisterMdl.cmake b/cmake/RegisterMdl.cmake
@@ -4,7 +4,9 @@ function(initialize_mdl_set)
     # PARSE ARGUMENTS
     # ===============
 
+    set(_options)
     set(_oneValueArgs NAME)
+    set(_multiValueArgs)
 
     cmake_parse_arguments(PREFIX
         "${_options}"
@@ -31,7 +33,9 @@ function(register_mdl)
     # PARSE ARGUMENTS
     # ===============
 
+    set(_options)
     set(_oneValueArgs MODELNAME)
+    set(_multiValueArgs)
 
     cmake_parse_arguments(PREFIX
         "${_options}"

diff --git a/config/CMakeLists.txt b/config/CMakeLists.txt
@@ -0,0 +1 @@
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/startup_WBC.m.in ${CMAKE_BINARY_DIR}/startup_WBC.m)
diff --git a/config/README.md b/config/README.md
@@ -4,4 +4,6 @@ A collection of scripts used for configuring the repo.
 
 - [export_WBC.m](export_WBC.m): run this script. Then, digit the Matlab version in which you want to export the Simulink models. All models in the repo will be exported to that version. By default, Simulnk models in this repo are written using Matlab 2017b. **Remember: you cannot export a model in a Matlab version newer than the one you are using**! 
 
-- [startup_WBC.m](startup_WBC.m): run this script. Then, the path to the `matlab-wbc` folder will be **permanently** added to your `pathdef.m` file, which will be saved inside the Matlab `userpath`. **WARNING**! In order to have the `matlab-wbc` folder inside the Matlab path, it is **required** to start Matlab from the folder where the `pathdef.m` file is (i.e., from the folder that the `userpath` is pointing, usually `~/Documents/MATLAB`).
+- [startup_WBC.m.in](startup_WBC.m.in): **DO NOT** run this script, but run its installation inside the procjet `${BUILD}` folder. Then, the path to the `+wbc` folder will be **permanently** added to your `pathdef.m` file, which will be saved inside the Matlab `userpath`. **WARNING**! In order to have the `+wbc` folder inside the Matlab path, it is **required** to start Matlab from the folder where the `pathdef.m` file is (i.e., from the folder that the `userpath` is pointing, usually `~/Documents/MATLAB`).
+
+- [createGoToWBC.m](createGoToWBC.m): run this script. A file named 'goToWholeBodyControllers.m' will be created in the folder pointed by your `userpath`, to facilitate the reaching of WBC source folder when Matlab is started from the `userpath` folder.
diff --git a/config/startup_WBC.m → config/createGoToWBC.m b/config/startup_WBC.m → config/createGoToWBC.m
@@ -1,24 +1,10 @@
-%% startup_WBC.m
+%% createGoToWBC.m
 %
-%  Run this script once to permanently add the matlab-wbc library to your MATLAB path. 
+%  Run this script once create the goToWholeBodyControllers.m script in your userpath. 
 
 clc
 fprintf('\n## whole-body-controllers ##\n');
-fprintf('\nAdding "matlab-wbc" library to your pathdef.m...\n\n');
-
-% path to whole-body-controllers
-pathToWBC = pwd;
-pathToWBC = pathToWBC(1:end-6);
-
-% path to the matlab-wbc library
-pathToLibrary = [pathToWBC, filesep, 'library/matlab-wbc'];
-
-if exist(pathToLibrary, 'dir')
-
-    addpath(pathToLibrary);
-else
-    error('Path to the "matlab-wbc" library not found or not correct.')
-end
+fprintf('\nCreating "goToWholeBodyControllers.m" in your userpath...\n\n');
 
 % Path to the Matlab userpath
 pathToUserpath        = userpath;
@@ -63,22 +49,6 @@
     error('There are still multiple userpath. Please set a single userpath before running this script');
 end
 
-if (~isempty(pathSeparatorLocation))
-
-    pathToUserpath(pathSeparatorLocation) = [];
-end
-
-fprintf('Saving paths to %s\n\n', [pathToUserpath, filesep, 'pathdef.m']);
-
-if (~savepath([pathToUserpath, filesep, 'pathdef.m']))
-
-    fprintf(['A file called pathdef.m has been created in your %s folder.\n', ...
-             'This should be enough to permanently add matlab-wbc to ', ...
-             'your MATLAB installation.\n'], pathToUserpath);
-else
-    disp('There was an error generating the pathdef.m. Please manually add the matlab-wbc folder to your matlabpath');
-end
-
 % save a script named "goToWholeBodyControllers" inside the pathdef folder,
 % to facilitate the user to reach the WBC working folder
 
@@ -100,8 +70,7 @@
     fclose(fid);
 
     fprintf('\n')
-    fprintf(['A file called goToWholeBodyControllers.m has also been created in your %s folder.\n', ...
+    fprintf(['A file called goToWholeBodyControllers.m has been created in your %s folder.\n', ...
              'This will help to quickly reach the WBC-project folder after ', ...
              'Matlab is launched.\n'], pathToUserpath);
 end
-
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/startup_WBC.m.in ${CMAKE_BINARY_DIR}/startup_WBC.m)