startup_robotology_superbuild.m.in

%% startup_robotology_superbuild.m
%
%  Run this script only once to permanently add the required folders for using
%  MATLAB toolbox (e.g. WBToolbox, whole-body-controllers, matlab-whole-body-simulator) to your MATLAB path.

fprintf('\nMATLAB Toolbox\n');

installDir   = '@YCM_EP_INSTALL_DIR@';
mexDir       = [installDir, filesep, 'mex'];
simLibDir   = [installDir, filesep, 'mex/+wbc/simulink'];
simLibMomVelDir   = [installDir, filesep, 'mex/+wbc/simulink/MomentumVelocityControl'];
simModDir   = [installDir, filesep, 'mex/+wbc/examples'];
shareDir     = [installDir, filesep, 'share/WBToolbox'];
imgDir       = [shareDir, filesep, 'images'];
mujocoDir   = [installDir, filesep, 'mex/mujoco_simulink_blockset'];

for dirPath = {mexDir,simLibDir,simLibMomVelDir,simModDir,shareDir,imgDir,mujocoDir}
    if exist(dirPath{1}, 'dir')
        addpath(dirPath{1});
    end
end

fileDir               = userpath;
pathSeparatorLocation = strfind(fileDir, pathsep);

if isempty(fileDir)
    error('Empty userpath. Please set the userpath before running this script');
elseif size(pathSeparatorLocation, 2) > 1
    error('Multiple userpaths. Please set a single userpath before running this script');
end

if (~isempty(pathSeparatorLocation))
    fileDir(pathSeparatorLocation) = [];
end

fprintf('Saving paths to %s\n\n', [fileDir, filesep, 'pathdef.m']);

if (~savepath([fileDir, filesep, 'pathdef.m']))
    fprintf(['A file called pathdef.m has been created in your %s folder.\n', ...
        'This should be enough to permanentely add all the MATLAB-Toolbox to ', ...
        'your MATLAB installation.\n'], fileDir);
else
    disp('There was an error generating pathdef.m To proceed please manually add the contents of variables mexDir, simLibDir, simModDir, shareDir and imgDir to your matlabpath');
end

% inform the user that it is possible to generate the goToWholeBodyControllers script
fprintf('\n');
fprintf(['INFO: if whole-body-controllers is part of your superbuild installation, you may \n', ...
         'generate a file called ''goToWholeBodyControllers.m'' in your %s folder.\n', ...
         'This will help to quickly reach the WBC-project folder after Matlab is launched.\n', ...
         'To create the file, go to the ''WBC_SOURCE_DIR/config'' and run ''createGoToWBC.m.'' \n'], fileDir);