This PR adds the abstract class DQ_CoppeliaSimInterface

README.md

@@ -1 +1,3 @@
-# matlab-interface-coppeliasim
+# matlab-interface-coppeliasim
+
+Abstract class defining the DQ Robotics interface with CoppeliaSim in MATLAB

interfaces/coppeliasim/DQ_CoppeliaSimInterface.m

@@ -0,0 +1,105 @@
+% (C) Copyright 2011-2025 DQ Robotics Developers
+% 
+% This file is part of DQ Robotics.
+% 
+%     DQ Robotics is free software: you can redistribute it and/or modify
+%     it under the terms of the GNU Lesser General Public License as published by
+%     the Free Software Foundation, either version 3 of the License, or
+%     (at your option) any later version.
+% 
+%     DQ Robotics is distributed in the hope that it will be useful,
+%     but WITHOUT ANY WARRANTY; without even the implied warranty of
+%     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%     GNU Lesser General Public License for more details.
+% 
+%     You should have received a copy of the GNU Lesser General Public License
+%     along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+% 
+% DQ Robotics website: dqrobotics.github.io
+% 
+% Contributors:
+% 
+%    1. Juan Jose Quiroz Omana (juanjose.quirozomana@manchester.ac.uk)
+%         - Responsible for the original implementation, which is based on
+%           https://github.com/dqrobotics/cpp-interface-coppeliasim/blob/main/include/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterface.h
+
+classdef  (Abstract) DQ_CoppeliaSimInterface < handle
+    methods(Abstract)
+            % This method connects to CoppeliaSim.
+            % Calling this function is required before anything else can happen.
+            status = connect(obj, host, port, timeout_in_milliseconds);
+
+            % This method enables or disables the stepped (synchronous) mode
+            % for the remote API server service to which the client is connected to.
+            % Example:
+            %       set_stepping_mode(true)    % stepping mode enabled
+            %       set_stepping_mode(false)   % stepping mode disabled
+            set_stepping_mode(obj, flag);
+
+            % This method sends trigger signal to the CoppeliaSim scene, 
+            % which performs a simulation step when the stepping mode is used.
+            trigger_next_simulation_step(obj);
+
+            % This method starts the CoppeliaSim simulation.
+            start_simulation(obj);
+
+            % This method stops the CoppeliaSim simulation.
+            stop_simulation(obj);
+
+            % This method gets the handles for a cell array of 
+            % object names in the the CoppeliaSim scene.
+            handles = get_object_handles(obj, objectnames);
+
+            % This method gets the handle for a given object in the CoppeliaSim scene. 
+            handle = get_object_handle(obj, objectname);
+
+            % This method gets the translation of an object in the CoppeliaSim scene.
+            t = get_object_translation(obj, objectname);
+
+            % This method sets the translation of an object in the CoppeliaSim scene.
+            set_object_translation(obj, objectname, translation);
+
+            % This method gets the rotation of an object in the CoppeliaSim scene.
+            r = get_object_rotation(obj, objectname);
+
+            % This method sets the rotation of an object in the CoppeliaSim scene.
+            set_object_rotation(obj, objectname, rotation);
+
+            % This method gets the pose of an object in the CoppeliaSim scene. 
+            x = get_object_pose(obj, objectname);
+
+            % This method sets the pose of an object in the CoppeliaSim scene. 
+            set_object_pose(obj, objectname, pose);
+
+            % This method sets the joint positions in the CoppeliaSim scene.        
+            set_joint_positions(obj, jointnames, joint_positions);
+
+            % This method gets the joint positions in the CoppeliaSim scene. 
+            joint_positions = get_joint_positions(obj, jointnames);
+
+            % This method sets the joint target positions in the CoppeliaSim scene. 
+            % It requires a dynamics-enabled scene and joints in dynamic mode with position control mode. 
+            % For more information about joint modes:
+            % https://www.coppeliarobotics.com/helpFiles/en/jointModes.htm
+            set_joint_target_positions(obj, jointnames, joint_target_positions);
+
+            % This method gets the joint velocities in the CoppeliaSim scene. 
+            joint_velocities = get_joint_velocities(obj, jointnames);
+
+            % This method sets the joint target velocities in the CoppeliaSim scene.
+            % It requires a dynamics-enabled scene and joints in dynamic mode with velocity control mode. 
+            % For more information about joint modes:
+            % https://www.coppeliarobotics.com/helpFiles/en/jointModes.htm
+            set_joint_target_velocities(obj, jointnames, joint_target_velocities);
+
+            % This method sets the joint target forces in the CoppeliaSim scene.
+            % It requires a dynamics-enabled scene and joints in dynamic mode with force control mode. 
+            % For more information about joint modes:
+            % https://www.coppeliarobotics.com/helpFiles/en/jointModes.htm
+            set_joint_target_forces(obj, jointnames, torques);  
+
+            % This method gets the joint forces in the CoppeliaSim scene.
+            joint_torques = get_joint_forces(obj, jointnames);
+      end
+end
+