CoppeliaSim remote API functions can easily be recognized from their "simx"-prefix. This page lists and describes all supported Matlab remote API functions. See the simpleTest.m program in the programming/remoteApiBindings/matlab directory for an example. To enable the remote API on the client side (i.e. Once you have above elements in Matlab's current folder, call sim=remApi('remoteApi') to build the object and load the library. You might have to build the remoteApi shared library yourself (using remoteApiSharedLib.vcproj or remoteApiSharedLib_Makefile) if not already built. To use the remote API functionality in your Matlab program, you will need following 3 items:Ībove files are located in CoppeliaSim's installation directory, under programming/remoteApiBindings/matlab. In Linux for instance, you could call: e xport LD_LIBRARY_PATH=$LD_LIBRARY_PATH:`pwd` before executing your Java application. You might also have to add the folder to the system path.
This page lists and describes all supported Java remote API functions. See the simpleTest.java program in the programming/remoteApiBindings/java directory for an example. In your application, make sure to import the classes that you use with import coppelia.className, then call remoteApi sim = new remoteApi() to load the library. Once you have above elements in a directory known to Java, compile your application with myAppName.java with javac myAppName.java. In that case, make sure you have defined NON_MATLAB_PARSING and MAX_EXT_API_CONNECTIONS=255 (and optionally DO_NOT_USE_SHARED_MEMORY) as a preprocessor definition. You might have to build the remoteApiJava shared library yourself (using remoteApiSharedLibJava.vcproj or remoteApiSharedLibJava_Makefile) if not already built.
See the bubbleRobClient project in the programming directory for an example.
Make sure you have defined NON_MATLAB_PARSING and MAX_EXT_API_CONNECTIONS=255 (and optionally DO_NOT_USE_SHARED_MEMORY) as a preprocessor definition. extApiPlatform.c (contains platform specific code)Ībove files are located in CoppeliaSim's installation directory, under programming/remoteApi.extApiPlatform.h (contains platform specific code).To use the remote API functionality in your C/C++ application, just include following C-language files in your project: The remote API, or legacy remote API, should not be mixed-up with the BØ-based remote API, which is a newer version of the remote API that is more flexible, easier to use and most importantly, much simpler to extend.Īll units going to, or coming from the API are in meters, kilograms, seconds and radians or a combination of those (unless otherwise explicitly indicated).
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