Matlab SDK

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Introduction

NaoQi-Matlab-SDK allows you to call any NaoQi module method in Matlab script. Call syntax is the same as c++, java, python or .Net. All calls are made remotely from the pc with Matlab to real or simulated robot.

Requirements:
  • Matlab
  • Naoqi C++ SDK (for source code compilation)
  • NaoQi Matlab SDK (source code and precompiled library)
Tested on:
  • Matlab 2009. Windows xp 32 bits. Others configuration require modification of the CMake configuration files.

Others OS may need some changes on CMakeLists or sources code.

Use precompiled Matlab library

Content

  • All c++ module API converted to matlab. For example, ALMemoryProxy.m contains all ALMemory method’s. See module APIs for more information.
  • Matlab proxy library
  • Matlab call library
  • memory example: insert a variable in ALMemory with matlab.
  • footStep example: trace footstep with Matlab

Use precompiled Matlab library

Point matlab to the toolbox folder with matlab interface:

../../_images/matlabpoint.png

Compilation

Windows

Use CMake to compile the naoqi-Matlab-SDK.

z$ cd matlab
z$ mkdir build
z$ cd build
z$ cmake -DCMAKE_TOOLCHAIN_FILE=sdkpath/naoqi-sdk-1.12.0.26-linux32/toolchain-pc.cmake ..
Depending your matlab version, CMake may not find Matlab install folder. In CMake GUI or with command line, fill the matlab variable:
  • ${MATLAB_INSTALL_PATH} for example C:\Program Files (x86)\MATLAB\R2009a
  • ${MATLAB_LIBRARY_DIR} for example C:\Program Files (x86)\MATLAB\R2009a\extern\lib\win32\microsoft
  • ${MATLAB_INCLUDE_DIR} for example C:\Program Files (x86)\MATLAB\R2009a\extern\include

and configure again.

../../_images/matlabsmake.png

Examples

Get joint name in cells matrix

motion = ALMotionProxy('127.0.0.1');
names = motion.getAngles('Body',false);
../../_images/matlabjoint.png

You can see a matrix named “names” with all joints name.

Helloworld example

tts = ALTextToSpeechProxy('myRobotIP',9559);
tts.say('hello world');

ALMemory::insertData example

mem = ALMemoryProxy('127.0.0.1',9559);
mem.insertData('matlabVariable',5);

ALMotion::getFootStep example

function footstep()
  'motion footstep graph'

  motion = ALMotionProxy('127.0.0.1',9559);

  for z = 1:20

      step = motion.getFootSteps();
      left = step{1}{1};
      right = step{1}{2};
      if( (left{1} ~= right{1}) && (left{2} ~= right{2}))
          left2D = {left{1},left{2},left{3}}
          right2D = {right{1},right{2},right{3}}
      end
          if (size(step{1})>=1)
              for i = 1:size(step{2});

                  name = step{2}{i}{1}
                  pos = step{2}{i}{3}
                  tmpPose2D = {pos{1}, pos{2}, pos{3}};
                  if(name == 'LLeg')
                          left2D{1} = right2D{1} + cos(right2D{3}) * tmpPose2D{1} - sin(right2D{3}) * tmpPose2D{2};
                          left2D{2} = right2D{2} + sin(right2D{3}) * tmpPose2D{1} + cos(right2D{3}) * tmpPose2D{2};
                          left2D{3} = right2D{3} + tmpPose2D{3};
                          drawFoot(left2D{1}, left2D{2}, left2D{3}, [1 0 0], 2);
                    else
                          right2D{1} = left2D{1} + cos(left2D{3}) * tmpPose2D{1} - sin(left2D{3}) * tmpPose2D{2};
                          right2D{2} = left2D{2} + sin(left2D{3}) * tmpPose2D{1} + cos(left2D{3}) * tmpPose2D{2};
                          right2D{3} = left2D{3} + tmpPose2D{3};
                          drawFoot(right2D{1}, right2D{2}, right2D{3}, [0 1 0], 2);
                    end
              end
          end
            if (size(step{3})>=1)
                for i = 1:size(step{3});
                    name = step{3}{i}{1};
                    pos = step{3}{i}{3};
                    tmpPose2D = {pos{1}, pos{2}, pos{3}};
                    if(name == 'LLeg')
                          left2D{1} = right2D{1} + cos(right2D{3}) * tmpPose2D{1} - sin(right2D{3}) * tmpPose2D{2};
                          left2D{2} = right2D{2} + sin(right2D{3}) * tmpPose2D{1} + cos(right2D{3}) * tmpPose2D{2};
                          left2D{3} = right2D{3} + tmpPose2D{3};
                          drawFoot(left2D{1}, left2D{2}, left2D{3}, [1 0 0], 0.5);
                    else
                          right2D{1} = left2D{1} + cos(left2D{3}) * tmpPose2D{1} - sin(left2D{3}) * tmpPose2D{2};
                          right2D{2} = left2D{2} + sin(left2D{3}) * tmpPose2D{1} + cos(left2D{3}) * tmpPose2D{2};
                          right2D{3} = left2D{3} + tmpPose2D{3};
                          drawFoot(right2D{1}, right2D{2}, right2D{3}, [0 1 0], 0.5);
                    end
                end
            end


      pause(1.0)
      end
  end

Using Naoqi.Net with Matlab

On Microsoft Windows, Matlab allows you to use a .Net library from within an m file. To use this approach, please first follow the instructions for installing naoqi.net. Once installed, you can use the following approach in an matlab file.

NET.addAssembly('C:\Program Files (x86)\Aldebaran\NAOqi.Net SDK *.*.*.*\naoqi-dotnet4.dll')
m = Aldebaran.Proxies.MotionProxy('127.0.0.1',9559)
m.getSummary()
m.getAngles('Body',true)
angles = m.getAngles('Body',true)

tts = Aldebaran.Proxies.TextToSpeechProxy('robotName.local',9559)
tts.say('Hello from Matlab through DotNet.')

Type conversion

Module API methods sometimes require or return an ALValue. ALValue is a Cell or Cell Array in Matlab and can often be converted to a simple matlab type.

C++ Matlab
bool bool
int int32
float double
string string
ALValue::binary not managed
vector<float> cells array
vector<int> cells array
vector<string> cells array
ALValue cells
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