Merge branch 'delay_simulink_load' of https://github.com/RussTedrake/…

…drake

Conflicts:
	cmake

systems/@DynamicalSystem/DynamicalSystem.m

@@ -370,7 +370,7 @@
       inport = find_system(mdl,'SearchDepth',1,'BlockType','Inport');
       ts = [];
       for i=1:length(inport)
-        ts = [ts,Simulink.Block.getSampleTimes(inport{i}).Value'];
+        ts = [ts,getSimulinkSampleTimes(inport{i})];
       end
     end
     function ts = getOutputSampleTimes(obj)
@@ -380,7 +380,7 @@
       outport = find_system(mdl,'SearchDepth',1,'BlockType','Outport');
       ts = [];
       for i=1:length(outport)
-        ts = [ts,Simulink.Block.getSampleTimes(outport{i}).Value'];
+        ts = [ts,getSimulinkSampleTimes(outport{i})];
       end
     end
 
@@ -652,7 +652,7 @@
       if (nargin<3) mdl = getModel(obj); end
 
       if (isempty(obj.structured_x))
-        obj.structured_x = Simulink.BlockDiagram.getInitialState(mdl.name);
+        obj.structured_x = getSimulinkStateStructure(mdl.name);
       end
       xs = obj.structured_x;
       if (length(xs.signals)>1)

util/force_close_system.m

@@ -8,6 +8,7 @@ function force_close_system(sys)
   end
 elseif ischar(sys)
   if (strcmpi(sys,'all'))
+    if isempty(license('inuse','simulink')), return; end  % don't load simulink if it's not loaded already
     force_close_system(find_system('SearchDepth',0));
   else
     try 

util/getSimulinkSampleTimes.m

@@ -0,0 +1,6 @@
+function ts = getSimulinkSampleTimes(ref)
+% Note: this used to be inside DynamicalSystem.stateVectorToStructure, but
+% having it there caused simulink to be loaded ( see 
+% https://github.com/RobotLocomotion/drake/issues/1044 )
+
+ts = Simulink.Block.getSampleTimes(ref).Value';

util/getSimulinkStateStructure.m

@@ -0,0 +1,8 @@
+function x_struct = getSimulinkStateStructure(mdl)
+% Note: this used to be inside DynamicalSystem.stateVectorToStructure, but
+% having it there caused simulink to be loaded ( see 
+% https://github.com/RobotLocomotion/drake/issues/1044 )
+
+x_struct = Simulink.BlockDiagram.getInitialState(mdl);
+
+