From 6e915e04a885fbefa5cea7cc7c11d8eb935180a7 Mon Sep 17 00:00:00 2001
From: Russ Tedrake <russt@mit.edu>
Date: Fri, 1 May 2015 13:38:27 -0400
Subject: [PATCH] resolves #1064

---
 examples/LinearGaussianExample.m                         | 3 +--
 systems/@DynamicalSystem/simulate.m                      | 2 +-
 .../@PolynomialSystem/sampledFiniteTimeVerification.m    | 4 +---
 .../@PolynomialSystem/sampledTransverseVerification.m    | 3 +--
 util/checkDependency.m                                   | 9 ++++-----
 5 files changed, 8 insertions(+), 13 deletions(-)

diff --git a/examples/LinearGaussianExample.m b/examples/LinearGaussianExample.m
index 3dc447a3cffe..202a7d66e209 100644
--- 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
index 3f59fa6adc17..149c3d0d8b72 100644
--- 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
index aa265e73bd6b..764d45ce2b46 100644
--- 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
index 67661b47eaec..69b8089e8913 100644
--- 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
index e594ce79a5de..a53f936b9fad 100644
--- 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'