Difference between revisions of "Calling yarp from Matlab"

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Follow these instructions to call yarp code within Matlab:
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Follow these instructions to call yarp code from Matlab:
  
- yarp side
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* yarp side
 
Install swig and the Java development environment.
 
Install swig and the Java development environment.
  

Revision as of 13:35, 29 August 2006

Follow these instructions to call yarp code from Matlab:

  • yarp side

Install swig and the Java development environment.

Cmake /example/swig and compile it. You'll get a bunch of .java files in /generated/src and shared library (e.g. jyarp.dll in windows and libjyarp.so in linux). Copy the shared library to a location that is in your path (not sure about this, but I guess it is required so that Matlab can later find it).

Compile all java classes in /example/swig/generated_src: java -source 1.3 -target 1.3 *.java

- Matlab side You need to tell Matlab the location of the yarp *.class files. Do this by adding the following line to your classpath.txt:

yarp_root\\example\\swig\\generated_src

where yarp_root should be substituted with the actual path. Maybe it is possible to change this to point to your YARP_ROOT env variable, if you have defined one. I did not have the time to look at it.

You can ask Matlab about the location of your classpath.txt by typing which classpath.txt (usually C:\MATLAB6p5\toolbox\local\).

Now the next time you run matlab you should be able to call yarp code. Try for example b=bottle to create a bottle object.

Important: you need to close and run Matlab again every time you change either your classpath.txt file or the .java/.class.

which classpath.txt