Visual Servoing Platform version 3.6.0
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tutorial-matlab.cpp
1
6#include <stdio.h>
7#include <stdlib.h>
8#include <string.h>
10#include <engine.h>
11#include <matrix.h>
12#include <visp3/core/vpMatrix.h>
14
15int main()
16{
17 // ViSP matrix containing input data
19 vpMatrix x(3, 3, 0);
20 x[0][0] = 1;
21 x[0][1] = 2;
22 x[0][2] = 3;
23 x[1][0] = 4;
24 x[1][1] = 5;
25 x[1][2] = 6;
26 x[2][0] = 7;
27 x[2][1] = 8;
28 x[2][2] = 9;
30 int xCols = x.getCols();
31 int xRows = x.getRows();
32
34 // MATLAB Engine
35 Engine *ep;
36
37 // MATLAB array to store input data to MATLAB
38 mxArray *T = mxCreateDoubleMatrix(xRows, xCols, mxREAL);
39
40 // MATLAB array to store output data from MATLAB
41 mxArray *D = NULL;
43
44 // Temporary variable to hold Output data
45 double res[3];
46 int resCols = 3;
47
48 // Display input data to the user
49 std::cout << "ViSP Input Matrix:" << std::endl;
50 for (size_t i = 0; i < xRows; i++) {
51 for (size_t j = 0; j < xCols; j++)
52 std::cout << x.data[i * xCols + j] << " ";
53 std::cout << std::endl;
54 }
55
56 // Start a MATLAB Engine process using engOpen
58 if (!(ep = engOpen(""))) {
59 fprintf(stderr, "\nCan't start MATLAB engine\n");
60 return EXIT_FAILURE;
61 }
63
64 // Copy the contents of ViSP matrix to the MATLAB matrix variable T
66 memcpy((void *)mxGetPr(T), (void *)x.data, xRows * xCols * sizeof(double));
68
69 // Place the variable T into the MATLAB workspace
71 engPutVariable(ep, "Tm", T);
73
74 // Determine the sum of each column of input matrix x
75 // ViSP matrix is row-major and MATLAB matrix is column-major, so transpose the matrix T before evaluation
77 engEvalString(ep, "Dm = sum(Tm');");
79
80 // Get the variable D from the MATLAB workspace
82 D = engGetVariable(ep, "Dm");
84
85 // Copy the contents of MATLAB variable D to local variable res
87 memcpy((void *)res, (void *)mxGetPr(D), sizeof(res));
89
90 // Display output data to the user
91 std::cout << std::endl << "MATLAB Output Matrix (Column-wise sum):" << std::endl;
92 for (size_t i = 0; i < resCols; i++)
93 std::cout << res[i] << " ";
94 std::cout << std::endl;
95
96 // Wait until user exits
97 std::cout << std::endl << "Hit return to quit\n" << std::endl;
98 fgetc(stdin);
99
100 // Free memory, close MATLAB Engine and Exit
102 mxDestroyArray(T);
103 mxDestroyArray(D);
104 engEvalString(ep, "close;");
105 engClose(ep);
107
108 return EXIT_SUCCESS;
109}
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152