void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[])
{
/*
IKoptionsmex(1,robot_ptr) // construct IK options
IKoptionsmex(2,ikoptions_pts) // destroy IK options
IKoptionsmex(3,ikoptions_ptr,field,varargin) // update IK options
*/
if (nrhs<2)
{
mexErrMsgIdAndTxt("Drake:IKoptionsmex:BadInputs","See IKoptionsmex.cpp for usage");
}
int COMMAND = (int) mxGetScalar(prhs[0]);
switch (COMMAND)
{
case 1:
{
RigidBodyTree * robot = (RigidBodyTree *) getDrakeMexPointer(prhs[1]);
IKoptions* ikoptions = new IKoptions(robot);
mxArray* additional_argument = mxCreateDoubleScalar(2);
plhs[0] = createDrakeMexPointer((void*) ikoptions,"IKoptions",-1,1,&additional_argument);
}
break;
case 2:
{
destroyDrakeMexPointer<IKoptions*>(prhs[1]);
return;
}
break;
case 3:
{
IKoptions* ikoptions = (IKoptions*) getDrakeMexPointer(prhs[1]);
mwSize strlen = static_cast<mwSize>(mxGetNumberOfElements(prhs[2]))+1;
char* field = new char[strlen];
mxGetString(prhs[2],field,strlen);
string field_str(field);
int nq = ikoptions->getRobotPtr()->num_positions;
IKoptions* ikoptions_new = new IKoptions(*ikoptions);
if(field_str == "Q")
{
if(!mxIsNumeric(prhs[3]) || mxGetM(prhs[3]) != nq || mxGetN(prhs[3]) != nq)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","Q must be nq x nq double matrix");
}
MatrixXd Q(nq,nq);
memcpy(Q.data(),mxGetPrSafe(prhs[3]),sizeof(double)*nq*nq);
ikoptions_new->setQ(Q);
}
else if(field_str == "Qa")
{
if(!mxIsNumeric(prhs[3]) || mxGetM(prhs[3]) != nq || mxGetN(prhs[3]) != nq)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","Qa must be nq x nq double matrix");
}
MatrixXd Qa(nq,nq);
memcpy(Qa.data(),mxGetPrSafe(prhs[3]),sizeof(double)*nq*nq);
ikoptions_new->setQa(Qa);
}
else if(field_str == "Qv")
{
if(!mxIsNumeric(prhs[3]) || mxGetM(prhs[3]) != nq || mxGetN(prhs[3]) != nq)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","Qv must be nq x nq double matrix");
}
MatrixXd Qv(nq,nq);
memcpy(Qv.data(),mxGetPrSafe(prhs[3]),sizeof(double)*nq*nq);
ikoptions_new->setQv(Qv);
}
else if (field_str == "debug")
{
if(!mxIsLogicalScalar(prhs[3]))
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","debug must be a single boolean");
}
bool flag = *mxGetLogicals(prhs[3]);
ikoptions_new->setDebug(flag);
}
else if(field_str == "sequentialSeedFlag")
{
if(!mxIsLogicalScalar(prhs[3]))
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","sequentialSeedFlag must be a boolean scalar");
}
bool flag = *mxGetLogicals(prhs[3]);
ikoptions_new->setSequentialSeedFlag(flag);
}
else if(field_str == "majorOptimalityTolerance")
{
if(!mxIsNumeric(prhs[3]) || mxGetNumberOfElements(prhs[3]) != 1)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","MajorOptimalityTolerance must be a double scalar");
}
double tol = mxGetScalar(prhs[3]);
if(tol<=0)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","MajorOptimalityTolerance must be positive");
}
ikoptions_new->setMajorOptimalityTolerance(tol);
}
else if(field_str == "majorFeasibilityTolerance")
{
if(!mxIsNumeric(prhs[3]) || mxGetNumberOfElements(prhs[3]) != 1)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","MajorFeasibilityTolerance must be a double scalar");
}
double tol = mxGetScalar(prhs[3]);
if(tol<=0)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","MajorFeasibilityTolerance must be positive");
}
ikoptions_new->setMajorFeasibilityTolerance(tol);
}
else if(field_str == "superbasicsLimit")
{
if(!mxIsNumeric(prhs[3]) || mxGetNumberOfElements(prhs[3]) != 1)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","SuperbasicsLimit must be an integer scalar");
}
int limit = (int) mxGetScalar(prhs[3]);
if(limit <=0)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","SuperbasicsLimit must be positive");
}
ikoptions_new->setSuperbasicsLimit(limit);
}
else if(field_str == "majorIterationsLimit")
{
if(!mxIsNumeric(prhs[3]) || mxGetNumberOfElements(prhs[3]) != 1)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","MajorIterationsLimit must be an integer scalar");
}
int limit = (int) mxGetScalar(prhs[3]);
if(limit <=0)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","MajorIterationsLimit must be positive");
}
ikoptions_new->setMajorIterationsLimit(limit);
}
else if(field_str == "iterationsLimit")
{
if(!mxIsNumeric(prhs[3]) || mxGetNumberOfElements(prhs[3]) != 1)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","IterationsLimit must be an integer scalar");
}
int limit = (int) mxGetScalar(prhs[3]);
if(limit <=0)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","IterationsLimit must be positive");
}
ikoptions_new->setIterationsLimit(limit);
}
else if(field_str == "fixInitialState")
{
if(!mxIsLogicalScalar(prhs[3]))
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","fixInitialState must be a boolean scalar");
}
bool flag = *mxGetLogicals(prhs[3]);
ikoptions_new->setFixInitialState(flag);
}
else if(field_str == "q0")
{
if(!mxIsNumeric(prhs[3]) || !mxIsNumeric(prhs[4]) || mxGetM(prhs[3]) != nq || mxGetM(prhs[4]) != nq || mxGetN(prhs[3]) != 1 || mxGetN(prhs[4]) != 1)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","q0_lb,q0_ub must be nq x 1 column double vector");
}
VectorXd lb(nq);
VectorXd ub(nq);
memcpy(lb.data(),mxGetPrSafe(prhs[3]),sizeof(double)*nq);
memcpy(ub.data(),mxGetPrSafe(prhs[4]),sizeof(double)*nq);
ikoptions_new->setq0(lb,ub);
}
else if(field_str == "qd0")
{
if(!mxIsNumeric(prhs[3]) || !mxIsNumeric(prhs[4]) || mxGetM(prhs[3]) != nq || mxGetM(prhs[4]) != nq || mxGetN(prhs[3]) != 1 || mxGetN(prhs[4]) != 1)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","qd0_lb,qd0_ub must be nq x 1 column double vector");
}
VectorXd lb(nq);
VectorXd ub(nq);
memcpy(lb.data(),mxGetPrSafe(prhs[3]),sizeof(double)*nq);
memcpy(ub.data(),mxGetPrSafe(prhs[4]),sizeof(double)*nq);
ikoptions_new->setqd0(lb,ub);
}
else if(field_str == "qdf")
{
if(!mxIsNumeric(prhs[3]) || !mxIsNumeric(prhs[4]) || mxGetM(prhs[3]) != nq || mxGetM(prhs[4]) != nq || mxGetN(prhs[3]) != 1 || mxGetN(prhs[4]) != 1)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","qdf_lb,qdf_ub must be nq x 1 column double vector");
}
VectorXd lb(nq);
VectorXd ub(nq);
memcpy(lb.data(),mxGetPrSafe(prhs[3]),sizeof(double)*nq);
memcpy(ub.data(),mxGetPrSafe(prhs[4]),sizeof(double)*nq);
ikoptions_new->setqdf(lb,ub);
}
else if(field_str == "additionaltSamples")
{
RowVectorXd t_samples;
if(mxGetNumberOfElements(prhs[3]) == 0)
{
t_samples.resize(0);
}
else
{
if(!mxIsNumeric(prhs[3]) || mxGetM(prhs[3]) != 1)
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","additional_tSamples must be a row double vector");
}
t_samples.resize(mxGetN(prhs[3]));
memcpy(t_samples.data(),mxGetPrSafe(prhs[3]),sizeof(double)*mxGetN(prhs[3]));
}
ikoptions_new->setAdditionaltSamples(t_samples);
}
else if(field_str == "robot")
{
RigidBodyTree * new_robot = (RigidBodyTree *) getDrakeMexPointer(prhs[3]);
ikoptions_new->updateRobot(new_robot);
}
else
{
mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","Unsupported field");
}
mxArray* additional_argument = mxCreateDoubleScalar(2);
plhs[0] = createDrakeMexPointer((void*) ikoptions_new,"IKoptions",-1,1,&additional_argument);
delete[] field;
}
break;
default:
mexErrMsgIdAndTxt("Drake:IKoptionsmex:BadInputs","Unknown command");
break;
}
}
void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[])
{
if(nlhs != 19 || nrhs != 1)
{
mexErrMsgIdAndTxt("Drake:testIKoptions:BadInputs","Usage [robot_address,Q,Qa,Qv,debug_mode, sequentialSeedFlag,majorFeasibilityTolerance,majorIterationsLimit,iterationsLimit,superbasicsLimit,majorOptimalityTolerance,additional_tSamples,fixInitialState,q0_lb,q0_ub,qd0_lb,qd0_ub,qdf_lb,qdf_ub] = testIKoptionsmex(ikoptions_ptr)");
}
IKoptions* ikoptions = (IKoptions*) getDrakeMexPointer(prhs[0]);
long long robot_address = reinterpret_cast<long long>(ikoptions->getRobotPtr());
int nq = ikoptions->getRobotPtr()->num_positions;
MatrixXd Q;
ikoptions->getQ(Q);
MatrixXd Qv;
ikoptions->getQv(Qv);
MatrixXd Qa;
ikoptions->getQa(Qa);
bool debug_mode = ikoptions->getDebug();
bool sequentialSeedFlag = ikoptions->getSequentialSeedFlag();
double majorFeasibilityTolerance = ikoptions->getMajorFeasibilityTolerance();
int majorIterationsLimit = ikoptions->getMajorIterationsLimit();
int iterationsLimit = ikoptions->getIterationsLimit();
int superbasicsLimit = ikoptions->getSuperbasicsLimit();
double majorOptimalityTolerance = ikoptions->getMajorOptimalityTolerance();
RowVectorXd t_samples;
ikoptions->getAdditionaltSamples(t_samples);
bool fixInitialState = ikoptions->getFixInitialState();
VectorXd q0_lb,q0_ub;
VectorXd qd0_lb,qd0_ub;
VectorXd qdf_lb,qdf_ub;
ikoptions->getq0(q0_lb,q0_ub);
ikoptions->getqd0(qd0_lb,qd0_ub);
ikoptions->getqdf(qdf_lb,qdf_ub);
plhs[0] = mxCreateDoubleScalar((double) robot_address);
plhs[1] = mxCreateDoubleMatrix(nq,nq,mxREAL);
memcpy(mxGetPr(plhs[1]),Q.data(),sizeof(double)*nq*nq);
plhs[2] = mxCreateDoubleMatrix(nq,nq,mxREAL);
memcpy(mxGetPr(plhs[2]),Qa.data(),sizeof(double)*nq*nq);
plhs[3] = mxCreateDoubleMatrix(nq,nq,mxREAL);
memcpy(mxGetPr(plhs[3]),Qv.data(),sizeof(double)*nq*nq);
plhs[4] = mxCreateLogicalScalar(debug_mode);
plhs[5] = mxCreateLogicalScalar(sequentialSeedFlag);
plhs[6] = mxCreateDoubleScalar(majorFeasibilityTolerance);
plhs[7] = mxCreateDoubleScalar((double) majorIterationsLimit);
plhs[8] = mxCreateDoubleScalar((double) iterationsLimit);
plhs[9] = mxCreateDoubleScalar((double) superbasicsLimit);
plhs[10] = mxCreateDoubleScalar(majorOptimalityTolerance);
if(t_samples.size()>0)
{
plhs[11] = mxCreateDoubleMatrix(1,static_cast<int>(t_samples.size()),mxREAL);
memcpy(mxGetPr(plhs[11]),t_samples.data(),sizeof(double)*t_samples.size());
}
else
{
plhs[11] = mxCreateDoubleMatrix(0,0,mxREAL);
}
plhs[12] = mxCreateLogicalScalar(fixInitialState);
plhs[13] = mxCreateDoubleMatrix(nq,1,mxREAL);
memcpy(mxGetPr(plhs[13]),q0_lb.data(),sizeof(double)*nq);
plhs[14] = mxCreateDoubleMatrix(nq,1,mxREAL);
memcpy(mxGetPr(plhs[14]),q0_ub.data(),sizeof(double)*nq);
plhs[15] = mxCreateDoubleMatrix(nq,1,mxREAL);
memcpy(mxGetPr(plhs[15]),qd0_lb.data(),sizeof(double)*nq);
plhs[16] = mxCreateDoubleMatrix(nq,1,mxREAL);
memcpy(mxGetPr(plhs[16]),qd0_ub.data(),sizeof(double)*nq);
plhs[17] = mxCreateDoubleMatrix(nq,1,mxREAL);
memcpy(mxGetPr(plhs[17]),qdf_lb.data(),sizeof(double)*nq);
plhs[18] = mxCreateDoubleMatrix(nq,1,mxREAL);
memcpy(mxGetPr(plhs[18]),qdf_ub.data(),sizeof(double)*nq);
}
