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Calling from MATLAB
THIS IS OUT OF DATE. THERE ARE ISSUES WITH RUNNING PYTHON FROM CONDA ENVIRONMENTS THAT I DON'T HAVE THE MOTIVATION TO FIGURE OUT RIGHT NOW.
Check your Python environment is at least Python 3
>> pyenv
ans =
PythonEnvironment with properties:
Version: "3.7"
Executable: "/opt/anaconda3/bin/python"
Library: "/opt/anaconda3/lib/libpython3.7m.dylib"
Home: "/opt/anaconda3"
Status: NotLoaded
ExecutionMode: InProcess
If you want to use a specific Python interpreter, for instance from a conda environment, use a command like this
>> pyenv(Version="~/opt/miniconda3/envs/dev/bin/python")
Check that the packages are in your Python path
>> P = py.sys.path
P =
Python list with no properties.
['', '/opt/anaconda3/lib/python37.zip', '/opt/anaconda3/lib/python3.7', '/opt/anaconda3/lib/python3.7/lib-dynload', '/opt/anaconda3/lib/python3.7/site-packages']
If spatial math is not there, add it
>> insert(P,int32(0),'~/code/spatialmath-python') # adjust for your case
>> P = py.sys.path
P =
Python list with no properties.
['/Users/corkep/code/spatialmath-python', '', '/opt/anaconda3/lib/python37.zip', '/opt/anaconda3/lib/python3.7', '/opt/anaconda3/lib/python3.7/lib-dynload', '/opt/anaconda3/lib/python3.7/site-packages', '/Users/corkep/code/bdsim', '/Users/corkep/code/robotics-toolbox-python', '/Users/corkep/code/machinevision-toolbox-python', '/Users/corkep/code/ropy']
Now import the package
>> sm = py.importlib.import_module('spatialmath')
sm =
Python module with properties:
arg: [1×1 py.module]
np: [1×1 py.module]
Plucker: [1×1 py.abc.ABCMeta]
pose2d: [1×1 py.module]
quaternion: [1×1 py.module]
Twist: [1×1 py.abc.ABCMeta]
tr: [1×1 py.module]
UserList: [1×1 py.abc.ABCMeta]
p3d: [1×1 py.module]
Plane: [1×1 py.type]
base: [1×1 py.module]
super_pose: [1×1 py.module]
math: [1×1 py.module]
UnitQuaternion: [1×1 py.abc.ABCMeta]
SE2: [1×1 py.abc.ABCMeta]
namedtuple: [1×1 py.function]
quat: [1×1 py.module]
p3: [1×1 py.module]
sympy: [1×1 py.module]
SO3: [1×1 py.abc.ABCMeta]
SMPose: [1×1 py.abc.ABCMeta]
plt: [1×1 py.module]
geom3d: [1×1 py.module]
pose3d: [1×1 py.module]
copy: [1×1 py.module]
sp: [1×1 py.module]
Twist2: [1×1 py.abc.ABCMeta]
argcheck: [1×1 py.module]
Quaternion: [1×1 py.abc.ABCMeta]
sm: [1×1 py.module]
SE3: [1×1 py.abc.ABCMeta]
Axes3D: [1×1 py.type]
SO2: [1×1 py.abc.ABCMeta]
SMTwist: [1×1 py.abc.ABCMeta]
<module 'spatialmath' from '/Users/corkep/code/spatialmath-python/spatialmath/__init__.py'>
Then we are good to use it
>> a=sm.SE3()
>> a
>> a.A
ans =
Python ndarray:
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
Use details function to view the properties of the Python object.
Use double function to convert to a MATLAB array.
Not sure why it prints nothing. Doesn't seem to use the __repr__ method, I added a display method, which does the same thing for MATLAB objects, but it causes no display as shown above. Without display we see the properties and the value.
A property of the Python object is the translation vector:
>> a.t
ans =
Python ndarray with properties:
T: [1×1 py.numpy.ndarray]
base: [1×1 py.numpy.ndarray]
ctypes: [1×1 py.numpy.core._internal._ctypes]
data: [1×3 py.memoryview]
dtype: [1×1 py.numpy.dtype]
flags: [1×1 py.numpy.flagsobj]
flat: [1×1 py.numpy.flatiter]
imag: [1×1 py.numpy.ndarray]
itemsize: [1×1 py.int]
nbytes: [1×1 py.int]
ndim: [1×1 py.int]
real: [1×1 py.numpy.ndarray]
shape: [1×1 py.tuple]
size: [1×1 py.int]
strides: [1×1 py.tuple]
[0. 0. 0.]
Not sure why it prints all the properties...