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julia_bindings.html
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<!DOCTYPE html>
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<title>Drake: Using Drake from Julia</title>
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content="Drake ("dragon" in Middle English) is a C++ toolbox started by the Robot
Locomotion Group at the MIT Computer Science and Artificial Intelligence
Lab (CSAIL). The development team has now grown significantly, with core
development led by the Toyota Research Institute. It is a collection of
tools for analyzing the dynamics of our robots and building control
systems for them, with a heavy emphasis on optimization-based design/
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<h1>Using Drake from Julia</h1>
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<p><a href="http://julialang.org/">Julia</a> is a relatively new, high-level language designed for fast scientific computing. There are two ways to access Drake’s functions from Julia: <code class="language-plaintext highlighter-rouge">PyCall.jl</code> and <code class="language-plaintext highlighter-rouge">Cxx.jl</code>.</p>
<h1 id="with-pycalljl">With <code class="language-plaintext highlighter-rouge">PyCall.jl</code></h1>
<p>The <a href="https://github.com/JuliaPy/PyCall.jl">PyCall.jl</a> package makes it easy to call Python code from Julia, including translation of basic data types like numbers, strings, and arrays to their Python equivalents. Using <code class="language-plaintext highlighter-rouge">PyCall.jl</code>, you can run all of the Drake functions which are exposed in the <a href="/python_bindings.html">Drake Python bindings</a>. For a demonstration of this method, see <a href="https://github.com/rdeits/pydrake-julia/blob/master/pydrake_in_julia.ipynb">this example notebook</a>.</p>
<h1 id="with-cxxjl">With <code class="language-plaintext highlighter-rouge">Cxx.jl</code></h1>
<p>The <a href="https://github.com/Keno/Cxx.jl">Cxx.jl</a> package allows Julia to call C++ code directly, and even allows Julia to compile new C++ functions on the fly. Since this method allows direct access to the Drake C++ interface, all of Drake’s features are available. However, setting up <code class="language-plaintext highlighter-rouge">Cxx.jl</code> may be more complicated than most Julia packages, and careless programming can easily lead to segmentation faults or other undefined behavior, as with any C++ code. For an example of usage, see <a href="https://github.com/tkoolen/drake/wiki/Running-Drake-code-from-Julia%27s-REPL">this wiki entry by Twan Koolen</a>.</p>
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