Add casadi-matlab-bindings if ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS is…

… ON and ROBOTOLOGY_USES_MATLAB is ON (#747)

cmake/Buildcasadi-matlab-bindings.cmake

@@ -0,0 +1,15 @@
+# Copyright (C) Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(casadi QUIET)
+
+ycm_ep_helper(casadi-matlab-bindings TYPE GIT
+              STYLE GITHUB
+              REPOSITORY dic-iit/casadi-matlab-bindings.git
+              TAG main
+              COMPONENT dynamics
+              FOLDER src
+              CMAKE_ARGS -DCASADI_MATLAB_BINDINGS_USES_MATLAB:BOOL=${ROBOTOLOGY_USES_MATLAB}
+              DEPENDS casadi)

cmake/RobotologySuperbuildLogic.cmake

@@ -54,6 +54,9 @@ if(ROBOTOLOGY_ENABLE_DYNAMICS)
   endif()
   if(ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS)
     find_or_build_package(bipedal-locomotion-framework)
+    if(ROBOTOLOGY_USES_MATLAB)
+      find_or_build_package(casadi-matlab-bindings)
+    endif()
   endif()
 endif()
 

conda/multisheller/casadi-matlab-bindings_activate.msh

@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex"))
+]).else_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex"))
+])

conda/multisheller/casadi-matlab-bindings_deactivate.msh

@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex"))
+]).else_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex"))
+])

releases/latest.releases.yaml

@@ -199,3 +199,7 @@ repositories:
     type: git
     url: https://github.com/dic-iit/matlab-whole-body-simulator.git
     version: v2.0.0
+  casadi-matlab-bindings:
+    type: git
+    url: https://github.com/dic-iit/casadi-matlab-bindings.git
+    version: v3.5.5.0