void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) {
if (nrhs == 5 && nlhs == 1) {
// create object
Map<VectorXd> breaks(mxGetPr(prhs[0]), mxGetNumberOfElements(prhs[0]));
Map<MatrixXd> K(mxGetPr(prhs[1]), mxGetM(prhs[1]), mxGetN(prhs[1]));
Map<MatrixXd> A(mxGetPr(prhs[2]), mxGetM(prhs[2]), mxGetN(prhs[2]));
Map<MatrixXd> alpha(mxGetPr(prhs[3]), mxGetM(prhs[3]), mxGetN(prhs[3]));
Map<MatrixXd> gamma(mxGetPr(prhs[4]), mxGetM(prhs[4]), mxGetN(prhs[4]));
Eval *eval = new Eval(breaks, K, A, alpha, gamma);
mxClassID cid;
if (sizeof(eval)==4) cid = mxUINT32_CLASS;
else if (sizeof(eval)==8) cid = mxUINT64_CLASS;
else mexErrMsgIdAndTxt("Drake:ExpPlusPPTmex:PointerSize","Are you on a 32-bit machine or 64-bit machine??");
plhs[0] = mxCreateNumericMatrix(1,1,cid,mxREAL);
memcpy(mxGetData(plhs[0]),&eval,sizeof(eval));
// mexPrintf("constructor\n"); mexCallMATLAB(0,NULL,0,NULL,"drawnow");
} else {
// retrieve object
Eval *eval = NULL;
if (nrhs==0 || !mxIsNumeric(prhs[0]) || mxGetNumberOfElements(prhs[0])!=1)
mexErrMsgIdAndTxt("Drake:ExpPlusPPTmex:BadInputs","the first argument should be the mex_ptr");
memcpy(&eval,mxGetData(prhs[0]),sizeof(eval));
if (nrhs == 1) {
// mexPrintf("delete\n"); mexCallMATLAB(0,NULL,0,NULL,"drawnow");
// delete object
if (eval)
delete eval;
} else {
// mexPrintf("eval\n"); mexCallMATLAB(0,NULL,0,NULL,"drawnow");
// eval() function call
if (nrhs != 2 || nlhs != 2) {
mexErrMsgIdAndTxt("Drake:ExpPlusPPTmex:WrongNumberOfInputs","Usage obj = ExpPlusPPTmex(breaks,K,A,alpha,gamma) or [y,jj] = ExpPlusPPTmex(obj,t)");
}
Map<VectorXd> t(mxGetPr(prhs[1]), mxGetNumberOfElements(prhs[1]));
int m = static_cast<int>(t.rows());
int d = eval->dim();
plhs[0] = mxCreateDoubleMatrix(d,m,mxREAL);
Map<MatrixXd> y(mxGetPr(plhs[0]),d,m);
plhs[1] = mxCreateDoubleMatrix(m,1,mxREAL);
Map<MatrixXd> jj(mxGetPr(plhs[1]),m,1);
eval->compute(t, y, jj);
}
}
}
