This document describes how to compile and run SDFAST simulations from within Matlab. The compilation process involves logging into a remote CMU server that holds the SDFAST program that creates C code from a script file describing the model. Next, the C files have to be compiled using Visual C++ from Windows. Finally, the MATLAB mex command is used to create a single .mexw32 file that runs the model from MATLAB

The rest of this page serves as a quick-start guide. More advanced topics are found here:

• EXAMPLE: Double Inverted Pendulum
• MATLAB Mex Functions
• SD/FAST Functions
• Automatically Generating SD/FAST Files

Quick-Start Guide

1. Find/Create an SDFAST model file

   Here is an example file for the sarcos robot: sarcos.sd

2. Generate the SDFAST code
   
   1. SSH onto run-prime.graphics.cs.cmu.edu
   2. change to your afs directory containing the sdfast model
   3. Run the following commands:

      > setenv SDKEYDIR /usr0/local/lib

      > /usr0/local/bin/sdfast -lc -ge -n sarcos.sd

   This step will create several C files:

   • sarcos_dyn.c
   • sarcos_sar.c
   • sarcos_info
   • sdlib.c
3. Compile the Code
   1. Open up an VC++ command line and change to the directory containing the C files
   2. Run the following commands:

      > cl /c sarcos_sar.c sarcos_dyn.c sdlib.c

4. Compile the code into Matlab using MEX

   Before you do this the first time, you will need to setup the matlab mex routine. Run "mex -setup" and select the LCC compiler.

   1. Copy the file, "C:\Program Files\Microsoft Visual Studio 8\VC\lib\chkstk.obj" into your directory
   2. Run the following command from matlab:

      >mex mexSim.c sarcos_dyn.obj sdlib.obj chkstk.obj sarcos_sar.obj