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Add setWorldBaseTransform function to KinDynComputations and high-level Matlab wrappers #1164

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merged 11 commits into from
Mar 22, 2024
Merged

Add setWorldBaseTransform function to KinDynComputations and high-level Matlab wrappers #1164

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8ec81ca
add setWorldBaseTransform member function
LoreMoretti Mar 18, 2024
94bc13c
add python bindings for setWorldBaseTransform
LoreMoretti Mar 18, 2024
cd69030
add matlab bindings and tests for setWorldBaseTransform
LoreMoretti Mar 18, 2024
50315d0
moving up setWorldBaseTransform member functions
LoreMoretti Mar 19, 2024
8482ce6
remove temporary comments and autogenerated files
LoreMoretti Mar 19, 2024
f1939e9
edit CMakeLists.txt for compiling Matlab bindings and update readme
LoreMoretti Mar 19, 2024
3443782
[bindings] update matlab bindings
LoreMoretti Mar 19, 2024
61c6237
rewrite setWorldBasetransform member function
LoreMoretti Mar 19, 2024
9afe662
[bindings] update matlab bindings
LoreMoretti Mar 20, 2024
74d9e9d
rename data member m_baseVel to m_baseVelSetViaRobotState
LoreMoretti Mar 21, 2024
9874861
Update bindings/matlab/+iDynTreeWrappers/setWorldBaseTransform.m
LoreMoretti Mar 21, 2024
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1 change: 1 addition & 0 deletions bindings/matlab/CMakeLists.txt
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Expand Up @@ -115,6 +115,7 @@ if(IDYNTREE_USES_MATLAB)
${IDYNTREE_GENERATE_MATLAB}
${MEX_BINDINGS_SOURCE_DIR})

target_include_directories(${target_name} PRIVATE ${Matlab_INCLUDE_DIRS})
target_link_libraries(${target_name} ${IDYNTREE_LIBRARIES} ${Matlab_MEX_LIBRARY} ${Matlab_MX_LIBRARY})

# Install the generated front-end to ${CMAKE_INSTALL_PREFIX}/mex
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2 changes: 2 additions & 0 deletions doc/generating-idyntree-matlab-bindings.md
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Expand Up @@ -33,7 +33,9 @@ Now, all is left is to compile and generate the bindings.

## Generating the bindings
- In the build folder of `iDynTree`, run `ccmake` to open the CMake Gui.
- Set the CMake option `SWIG_DIR` to `<swig_install_dir>/share/swig/<version>`.
- Set the CMake option `SWIG_EXECUTABLE` to `<swig_install_dir>/bin/swig`.
- Set the CMake option `SWIG_VERSION` to `<version>`.
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- Set the CMake option `IDYNTREE_GENERATE_MATLAB` to `ON`.
- Set the CMake option `IDYNTREE_USES_MATLAB` or `IDYNTREE_USES_OCTAVE` to `ON`.
- Having configured the CMake, run `make` and `make install` to install the bindings in the `mex` directory of the iDynTree install location.
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