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yarp-matlab-bindings

Experimental direct bindings of yarp to Matlab without using Java.

Rationale

While YARP can already be called from MATLAB using JAVA bindings ( http://www.yarp.it/yarp_swig.html#yarp_swig_matlab ), in this repo we host code for the direct bindings between MATLAB and the C++ YARP interfaces, generated by the experimental SWIG fork with MATLAB support developed by the CasADi project.

Installation

From Binaries

Binaries for yarp-matlab-bindings are available via the robotology channel, see the robotology-superbuild docs. If you already have conda installed, you can just install it via:

conda install -c conda-forge -c robotology yarp-matlab-bindings

Then start MATLAB in the shell in which the environment is active, and then you should be able to use the YARP MATLAB bindings, for example runnng this example code:

yarpVec = yarp.Vector();
yarpVec.resize(3);
yarpVec.fromMatlab([1;2;3]);
yarpVec.toMatlab()

From Source (manual)

Make sure that your YARP installation can found by CMake, either installing YARP in the default location or by defining the YARP_DIR enviromental variable.

Then run the usual cmake + compile + install for this repo. Then add the install location to the matlab path.

Depending on the latest time in which this bindings have been regenerated, the latest YARP version could be compatible with them or not. If you have problem in compilation, you can try to compile the bindings yourself following the instruction in the next section.

Development FAQs

How to regenerate the matlab bindings?

To regenerate the bindings, manually run the regenerate-matlab-bindings GitHub Action.

How to regenerate the matlab bindings manually?

If you want to regenerate manually the bindings (for example because yarp has been updated and you want to generate bindings for the new version of yarp) you have to install the fork of swig that supports matlab support from https://github.com/robotology-dependencies/swig/ (branch matlab). After that, you have to compile this project enabling the YARP_GENERATE_MATLAB CMake option. As the bindings are generated using the yarp.i from the YARP source repository, you also need to specify the YARP source directory setting the YARP_SOURCE_DIR CMake variable.

This will generate the bindings in the source directory of the repo, so you can commit the generated sources to the repo. We try to make sure that the master branch of this repo stays in sync with YARP master branch, while the stable versioned branch starting from yarp-3.3 branch should remain in sync with the corresponding YARP stable branch, for example yarp-3.3. However, this autogeneration happens manually, so it is possible that this repo and YARP go out of sync.