%% startup_WBC.m

%

% Run this script once to permanently add the +wbc library to your MATLAB path.

clc

fprintf('\n## whole-body-controllers ##\n');

fprintf('\nAdding "+wbc" library to your pathdef.m...\n\n');

% path to whole-body-controllers

pathToInstallDir = '@CMAKE_INSTALL_PREFIX@';

% path to the matlab-wbc library

pathToLibrary = [pathToInstallDir, filesep, 'mex'];

pathToSimLib = [pathToInstallDir, filesep, 'mex/+wbc/simulink'];

if exist(pathToLibrary, 'dir')

addpath(pathToLibrary);

else

error('Path to the "+wbc" library not found or not correct.')

end

if exist(pathToSimLib, 'dir')

addpath(pathToSimLib);

else

error('Path to the "+wbc/simulink" library not found or not correct.')

end

% Path to the Matlab userpath

pathToUserpath = userpath;

pathSeparatorLocation = strfind(pathToUserpath, pathsep);

if isempty(pathToUserpath)

answer = input('Empty userpath. Do you want to reset the userpath? Y/N ','s');

if strcmpi(answer,'Y')

userpath('reset');

disp('Resetting userpath..');

pathToUserpath = userpath;

pathSeparatorLocation = strfind(pathToUserpath, pathsep);

else

error('Please set the userpath before running this script');

end

elseif size(pathSeparatorLocation, 2) > 1

answer = input('Multiple userpath. Do you want to reset the userpath? Y/N ','s');

if strcmpi(answer,'Y')

userpath('reset');

disp('Resetting userpath..');

pathToUserpath = userpath;

pathSeparatorLocation = strfind(pathToUserpath, pathsep);

else

error('Please set a single userpath before running this script');

end

end

% check again the userpath

if isempty(pathToUserpath)

error('userpath is still empty. Please set the userpath before running this script');

elseif size(pathSeparatorLocation, 2) > 1

error('There are still multiple userpath. Please set a single userpath before running this script');

end

if (~isempty(pathSeparatorLocation))

pathToUserpath(pathSeparatorLocation) = [];

end

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

if (~savepath([pathToUserpath, filesep, 'pathdef.m']))

fprintf(['A file called pathdef.m has been created in your %s folder.\n', ...

'This should be enough to permanently add +wbc to ', ...

'your MATLAB installation.\n'], pathToUserpath);

else

disp('There was an error generating the pathdef.m. Please manually add the +wbc folder to your matlabpath');

end

% inform the user that it is possible to generate the goToWholeBodyControllers script

fprintf('\n');

fprintf(['INFO: you may 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'], pathToUserpath);