Move matlab code into `drake-distro/drake/matlab`

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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Move matlab code into `drake-distro/drake/matlab` #3253

Closed jwnimmer-tri closed 7 years ago

jwnimmer-tri commented 8 years ago

As begun in #3191, we should move all matlab-related code into drake-distro/drake/matlab; this also includes the C++ supporting code for mex. See https://github.com/RobotLocomotion/drake/pull/3191#issuecomment-240897342 for an overview.

The order of operations will be something like:

Fix util, either:
- stop using util from within non-matlab-related C++ code (ideally) (#3278); move util into matlab/util; or
- failing that, for now just split util in twain like we did with solvers (as a fallback);
Fix GetFullPath, either:
- invoke the build of thirdParty/bsd/GetFullPath from within drake/matlab (ideally); or
- failing that, guard it with MATLAB_FOUND at the top level, just like add_subdirectory(matlab) is guarded;
Fix systems by splitting it in twain like we did with solvers.
Fix regtests to partition the tests by either matlab-iness, specific plan TBD.
Consider what to do with examples TBD.

jwnimmer-tri commented 8 years ago

Given other priorities, and probably wanting to coordinate with other CMakeLists refactoring, I am not going to work on this immediately -- but don't be surprised if it crops up again in a few weeks.

jwnimmer-tri commented 8 years ago

@RussTedrake for these four files, may I move them into drake-distro/drake/matlab/ as part of this upcoming PR, or would it be easier to keep them where they are now (drake-distro/drake/)?

drake/addpath_drake.m
drake/rmpath_drake.m
drake/Contents.m
drake/runAllTests.m

jwnimmer-tri commented 8 years ago

General FYI... work in progress will be here (N.B. will be rebased often): https://github.com/jwnimmer-tri/drake/commits/the-great-matlab-relocation-of-aught-sixteen

RussTedrake commented 8 years ago

Fine to move but you'll need to update the docs in a bunch of places, too.

jwnimmer-tri commented 8 years ago

I think we can let addpath_drake remain where they are; it's not worth disrupting them, because they are not in the way like the library code was. I also think that I am content to leave examples alone as well. Thus, once #3861 merges, I think the issue can be closed, modulo a final sanity-check pass.

jwnimmer-tri commented 7 years ago

Wrap-up checklist:

[x] find drake -name examples -prune -o -name thirdParty -prune -o -name matlab -prune -o -name doc -prune -o -name \*.m -print is clean.
[x] Test with rm -rf matlab and make sure all C++ tests pass.
- Found one issue, filed as #3982.
[x] Do we want to rework examples also?
- Let's just leave them alone. Few people (if any) should be working there anyway.

jwnimmer-tri commented 7 years ago

One nitpick issue filed as #3982, otherwise this is done. Closing the meta-ticket. :100:.