Merge pull request RobotLocomotion#1080 from RussTedrake/distcomp_ver…

…sions resolves RobotLocomotion#1064
aminhashemi · May 4, 2015 · 6d720ff · 6d720ff
2 parents 665ef45 + 6e915e0
commit 6d720ff
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Showing 5 changed files with 8 additions and 13 deletions.
diff --git a/examples/LinearGaussianExample.m b/examples/LinearGaussianExample.m
@@ -41,8 +41,7 @@
    function prob=monteCarlo(obj,S,tspan,x0)
      N=200;
 
-     % for old versions of parallel computing toolbox, startup a matlabpool if necessary:
-     if (exist('matlabpool','file') && matlabpool('size')==0) matlabpool; end
+     ok=checkDependency('distcomp');  % initialize toolbox if it exists
 
      parfor i=1:N
        xtraj = simulate(obj,tspan,x0);

diff --git a/systems/@DynamicalSystem/simulate.m b/systems/@DynamicalSystem/simulate.m
@@ -90,7 +90,7 @@
   pstruct.LimitDataPoints = 'on';
   pstruct.MaxDataPoints = num2str(options.MaxDataPoints);
 else
-  pstruct.LimitDataPoints = 'off'
+  pstruct.LimitDataPoints = 'off';
 end
 
 %pstruct.SaveOnModelUpdate = 'false';

diff --git a/systems/@PolynomialSystem/sampledFiniteTimeVerification.m b/systems/@PolynomialSystem/sampledFiniteTimeVerification.m
@@ -36,9 +36,7 @@
 % Implements the algorithm described in http://arxiv.org/pdf/1010.3013v1
 
 checkDependency('sedumi');
-
-% for old versions of parallel computing toolbox, startup a matlabpool if necessary:
-if (exist('matlabpool','file') && matlabpool('size')==0) matlabpool; end
+ok=checkDependency('distcomp');  % initialize toolbox if it exists
 
 t=msspoly('t',1);
 ts=ts(:);

diff --git a/systems/@PolynomialSystem/sampledTransverseVerification.m b/systems/@PolynomialSystem/sampledTransverseVerification.m
@@ -33,8 +33,7 @@
 if (~isCT(sys)) error('not implemented yet'); end
 
 checkDependency('sedumi');
-% for old versions of parallel computing toolbox, startup a matlabpool if necessary:
-if (exist('matlabpool','file') && matlabpool('size')==0) matlabpool; end
+ok=checkDependency('distcomp');  % initialize toolbox if it exists
 
 num_x = sys.getNumStates();
 num_xd = sys.getNumDiscStates();

diff --git a/util/checkDependency.m b/util/checkDependency.m
@@ -42,11 +42,10 @@
       conf.distcomp_enabled = ~isempty(v);
       if ~conf.distcomp_enabled
         disp(' MATLAB Parallel Computing Toolbox was not found');
-      else
-        % go ahead and start up a pool if necessary
-        if (exist('matlabpool','file') && matlabpool('size')==0) 
-          matlabpool; 
-        end
+      elseif verLessThan('distcomp','6.3') && matlabpool('size')==0
+        % start a matlab pool (if none exists).  this approximates the
+        % now default behavior in newer versions of distcomp.
+        matlabpool; 
       end
 
     case 'spotless'