Issue #576: Rework after review.

- Further updated environment variables in the cmake/templates.
- Removed transitive dependencies from the project cmake configuration.
- Remove tabs from the conda activate/deactivate msh files.
- Updated documentation.

cmake/Buildmatlab-whole-body-simulator.cmake

@@ -3,20 +3,14 @@
 include(YCMEPHelper)
 include(FindOrBuildPackage)
 
-find_or_build_package(YARP QUIET)
 find_or_build_package(yarp-matlab-bindings QUIET)
 find_or_build_package(WBToolbox QUIET)
-find_or_build_package(iDynTree QUIET)
-find_or_build_package(qpOASES QUIET)
 find_or_build_package(icub-models QUIET)
 find_or_build_package(whole-body-controllers QUIET)
 
 set(matlab-whole-body-simulator_DEPENDS "")
-list(APPEND matlab-whole-body-simulator_DEPENDS YARP)
 list(APPEND matlab-whole-body-simulator_DEPENDS yarp-matlab-bindings)
 list(APPEND matlab-whole-body-simulator_DEPENDS WBToolbox)
-list(APPEND matlab-whole-body-simulator_DEPENDS iDynTree)
-list(APPEND matlab-whole-body-simulator_DEPENDS qpOASES)
 list(APPEND matlab-whole-body-simulator_DEPENDS icub-models)
 list(APPEND matlab-whole-body-simulator_DEPENDS whole-body-controllers)
 
@@ -26,7 +20,7 @@ ycm_ep_helper(matlab-whole-body-simulator TYPE GIT
               TAG master
               COMPONENT dynamics
               FOLDER src
-              DEPENDS matlab-whole-body-simulator_DEPENDS)
+              DEPENDS ${matlab-whole-body-simulator_DEPENDS})
 
 # Metadata for conda package generation
 # If we do not set the package name, by default the repo name would be used

cmake/template/addPathsToUserEnvVariables.ps1.in

@@ -41,7 +41,7 @@ Add-ValueToUserEnvVariable CMAKE_PREFIX_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREF
 # Setup the path of blockfactory plugins
 Add-ValueToUserEnvVariable BLOCKFACTORY_PLUGIN_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\@BLOCKFACTORY_PLUGIN_PATH_DIRECTORY@\blockfactory";
 
-# Setup to find resources in URDF and SDF files 
+# Setup to find resources in URDF and SDF files
 Add-ValueToUserEnvVariable ROS_PACKAGE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share"
 Add-ValueToUserEnvVariable AMENT_PREFIX_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share"
 Add-ValueToUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\gazebo\models"
@@ -74,8 +74,11 @@ Add-ValueToUserEnvVariable PYTHONPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"@ROB
 @endcmakeif ROBOTOLOGY_USES_PYTHON
 
 @cmakeif ROBOTOLOGY_USES_MATLAB
+Add-ValueToUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\RRbot";
+Add-ValueToUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\RRbot\robots";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\simulink";
+Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+mwbs\RobotDynamicsWithContacts";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox\images";
 @endcmakeif ROBOTOLOGY_USES_MATLAB

cmake/template/removePathsFromUserEnvVariables.ps1.in

@@ -77,8 +77,11 @@ Remove-ValueFromUserEnvVariable PYTHONPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX
 @endcmakeif ROBOTOLOGY_USES_PYTHON
 
 @cmakeif ROBOTOLOGY_USES_MATLAB
+Remove-ValueFromUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\RRbot";
+Remove-ValueFromUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\RRbot\robots";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\simulink";
+Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+mwbs\RobotDynamicsWithContacts";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox\images";
 @endcmakeif ROBOTOLOGY_USES_MATLAB

cmake/template/setup.bat.in

@@ -41,6 +41,9 @@ set "PYTHONPATH=%PYTHONPATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\@ROBOTOLOGY_
 @endcmakeif ROBOTOLOGY_USES_PYTHON
 
 @cmakeif ROBOTOLOGY_USES_MATLAB
+rem Set YARP and Gazebo related env variables
+set "YARP_DATA_DIRS=%YARP_DATA_DIRS%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\RRbot"
+set "GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\RRbot\robots"
 rem Configure the Matlab
 set "MATLABPATH=%MATLABPATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+mwbs\RobotDynamicsWithContacts;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox\images"
 @endcmakeif ROBOTOLOGY_USES_MATLAB

cmake/template/setup.sh.in

@@ -45,7 +45,7 @@ export PYTHONPATH=${PYTHONPATH:+${PYTHONPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_P
 @endcmakeif ROBOTOLOGY_USES_PYTHON
 
 @cmakeif ROBOTOLOGY_USES_MATLAB
-# YARP and Gazebo related env variables
+# Set YARP and Gazebo related env variables
 export YARP_DATA_DIRS=$YARP_DATA_DIRS:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/RRbot
 export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/RRbot/robots
 # Configure the Matlab path

conda/multisheller/matlab-whole-body-simulator_activate.msh

@@ -2,20 +2,20 @@ if_(is_set("COMSPEC")).then_([
   sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot")),
   sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
   sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
-	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots")),
-	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+mwbs\\RobotDynamicsWithContacts"))
+  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots")),
+  sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+mwbs\\RobotDynamicsWithContacts"))
 ]).else_([
   sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/RRbot")),
   sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
   sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "share")),
-	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots")),
-	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+mwbs/RobotDynamicsWithContacts"))
+  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots")),
+  sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+mwbs/RobotDynamicsWithContacts"))
 ])
 
 # For some reason setting two times the same variable inside the same if does not work in command prompt
 # As a workaround, we move each GAZEBO_MODEL_PATH set to a separate if
 if_(is_set("COMSPEC")).then_([
-	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
 ]).else_([
-	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
+  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
 ])

conda/multisheller/matlab-whole-body-simulator_deactivate.msh

@@ -2,20 +2,20 @@ if_(is_set("COMSPEC")).then_([
   sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot")),
   sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
   sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
-	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots")),
-	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+mwbs\\RobotDynamicsWithContacts"))
+  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots")),
+  sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+mwbs\\RobotDynamicsWithContacts"))
 ]).else_([
   sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/RRbot")),
   sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
   sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "share")),
-	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots")),
-	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+mwbs/RobotDynamicsWithContacts"))
+  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots")),
+  sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+mwbs/RobotDynamicsWithContacts"))
 ])
 
 # For some reason setting two times the same variable inside the same if does not work in command prompt
 # As a workaround, we move each GAZEBO_MODEL_PATH set to a separate if
 if_(is_set("COMSPEC")).then_([
-	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
 ]).else_([
-	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
+  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
 ])

doc/cmake-options.md

@@ -44,7 +44,7 @@ All these options are named `ROBOTOLOGY_ENABLE_<profile>` .
 |:------------:|:-----------:|:---------------------:|:-------------:|:----:|
 | `ROBOTOLOGY_ENABLE_CORE` | The core robotology software packages, necessary for most users. | [`YARP`](https://github.com/robotology/yarp), [`ICUB`](https://github.com/robotology/icub-main), [`ICUBcontrib`](https://github.com/robotology/icub-contrib-common), [`icub-models`](https://github.com/robotology/icub-models) and  [`robots-configurations`](https://github.com/robotology/robots-configuration). [`GazeboYARPPlugins`](https://github.com/robotology/GazeboYARPPlugins) and [`icub-gazebo`](https://github.com/robotology/icub-gazebo) if the `ROBOTOLOGY_USES_GAZEBO` option is enabled. [`gym-ignition`](https://github.com/robotology/gym-ignition) if the `ROBOTOLOGY_USES_IGNITION` option is enabled. | `ON` | [Documentation on Core profile.](#core) |
 | `ROBOTOLOGY_ENABLE_ROBOT_TESTING` | The robotology software packages related to robot testing. |  [`RobotTestingFramework`](https://github.com/robotology/robot-testing-framework), [`icub-tests`](https://github.com/robotology/icub-tests), [`blocktest`](https://github.com/robotology/blocktest) and [`blocktest-yarp-plugins`](https://github.com/robotology/blocktest-yarp-plugins) | `OFF` | [Documentation on Robot Testing profile.](#robot-testing)  |
-| `ROBOTOLOGY_ENABLE_DYNAMICS` | The robotology software packages related to balancing, walking and force control. | [`iDynTree`](https://github.com/robotology/idyntree), [`blockfactory`](https://github.com/robotology/blockfactory), [`wb-Toolbox`](https://github.com/robotology/wb-Toolbox), [`whole-body-controllers`](https://github.com/robotology/whole-body-controllers), [`walking-controllers`](https://github.com/robotology/walking-controllers), [`matioCpp`](https://github.com/dic-iit/matio-cpp), [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework), [`YARP_telemetry`](https://github.com/robotology/yarp-telemetry). | `OFF` | [Documentation on Dynamics profile.](#dynamics)  |
+| `ROBOTOLOGY_ENABLE_DYNAMICS` | The robotology software packages related to balancing, walking and force control. | [`iDynTree`](https://github.com/robotology/idyntree), [`blockfactory`](https://github.com/robotology/blockfactory), [`wb-Toolbox`](https://github.com/robotology/wb-Toolbox), [`whole-body-controllers`](https://github.com/robotology/whole-body-controllers), [`walking-controllers`](https://github.com/robotology/walking-controllers), [`matioCpp`](https://github.com/dic-iit/matio-cpp), [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework), [`YARP_telemetry`](https://github.com/robotology/yarp-telemetry). Furthermore, [`osqp-matlab`](https://github.com/dic-iit/osqp-matlab-cmake-buildsystem) and [`matlab-whole-body-simulator`](https://github.com/dic-iit/matlab-whole-body-simulator) if `ROBOTOLOGY_USES_MATLAB` option is enabled. | `OFF` | [Documentation on Dynamics profile.](#dynamics)  |
 | `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS` | Optional dependencies for [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework). | [`manif`](https://github.com/artivis/manif), [`qhull`](https://github.com/qhull/qhull), [`casadi`](https://github.com/casadi/casadi). [`CppAD`](https://github.com/coin-or/CppAD). | `OFF` | [Documentation on Dynamics full deps profile.](#dynamics-full-deps)  |
 | `ROBOTOLOGY_ENABLE_ICUB_HEAD` | The robotology software packages needed on the system that is running on the head of the iCub robot, or in general to communicate directly with iCub low-level devices. | [`icub-firmware`](https://github.com/robotology/icub-firmware), [`icub-firmware-shared`](https://github.com/robotology/icub-firmware-shared), [`diagnostic-daemon`](https://github.com/robotology/diagnostic-daemon). Furthermore, several additional devices are compiled in `YARP` and `ICUB` if this option is enabled. | `OFF` | [Documentation on iCub Head profile.](#icub-head)  |
 | `ROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS` | The robotology software packages needed to run basic demonstrations with the iCub robot. | [`icub-basic-demos`](https://github.com/robotology/icub-basic-demos), [`speech`](https://github.com/robotology/speech),  [`funny-things`](https://github.com/robotology/funny-things). | `OFF` | [Documentation on iCub Basic Demos profile.](#icub-basic-demos)  |
@@ -237,8 +237,8 @@ This option is set to `OFF` on all platforms as it is still experimental.
 
 ### System Dependencies
 
-Different Ignition distributions can be installed alongside. 
-The projects included in the superbuild might require different distributions. 
+Different Ignition distributions can be installed alongside.
+The projects included in the superbuild might require different distributions.
 From the superbuild point of view, we currently do not allow enabling projects that only support a specific Ignition distribution, therefore all required distributions have to be found in the system.
 
 #### Using conda
@@ -277,10 +277,14 @@ can install some projects that depend on MATLAB, in particular:
  * the MATLAB bindings of qpOASES, contained in the [robotology-dependencies/qpOASES](https://github.com/robotology-dependencies/qpOASES) fork,
  * The [WB-Toolbox](https://github.com/robotology/WB-Toolbox) Simulink toolbox,
  * The [whole-body-controllers](https://github.com/robotology/whole-body-controllers) Simulink-based balancing controllers. Note that whole-body-controllers can be installed and compiled also without MATLAB, but its functionalities are reduced.
+ * The [matlab-whole-body-simulator](https://github.com/dic-iit/matlab-whole-body-simulator) Simulink-based whole-body dynamics simulator with contacts handling.
 
 To use this software, you can simply enable its compilation using the `ROBOTOLOGY_USES_MATLAB` CMake option.
 Once this software has been compiled by the superbuild, you just need to add some directories of the robotology-superbuild install (typically `$ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/build/install`) to [the MATLAB path](https://www.mathworks.com/help/matlab/matlab_env/what-is-the-matlab-search-path.html).
-In particular you need to add to the MATLAB path the `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex` directory and all the subdirectories `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/WBToolbox`.
+In particular you need to add to the MATLAB path:
+ * the `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex` directory,
+ * the `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/WBToolbox` directory and all its subdirectories (except the packages which are folder names starting with "+"),
+ * the libraries `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex/+wbc/simulink` and `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex/+mwbs/RobotDynamicsWithContacts`.
 
 #### Start MATLAB from the launcher or the application menu
 
@@ -289,6 +293,7 @@ You could add this line to your MATLAB script that uses the robotology-superbuil
 ~~~
     addpath(['<ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX>' '/mex'])
     addpath(['<ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX>' '/mex/+wbc/simulink'])
+    addpath(['<ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX>' '/mex/+mwbs/RobotDynamicsWithContacts'])
     addpath(['<ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX>' '/share/WBToolbox'])
     addpath(['<ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX>' '/share/WBToolbox/images'])
 ~~~
@@ -419,4 +424,3 @@ No additional configuration is required to use the software installed by the  `R
 
 ### Check the installation
 Open a terminal, and check that amoung the device listed by `yarpdev --list` the `esdcan` YARP device is listed.
-