text: /***************************************************************************
   *   Copyright (C) 2009 by Markus Bader                                    *
   *   bader@acin.tuwien.ac.at                                               *
   *                                                                         *
   *   This program is free software; you can redistribute it and/or modify  *
   *   it under the terms of the GNU General Public License as published by  *
   *   the Free Software Foundation; either version 2 of the License, or     *
   *   (at your option) any later version.                                   *
   *                                                                         *
   *   This program 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 General Public License for more details.                          *
   *                                                                         *
   *   You should have received a copy of the GNU General Public License     *
   *   along with this program; if not, write to the                         *
   *   Free Software Foundation, Inc.,                                       *
   *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
   ***************************************************************************/
  
  
  #include "mex.h"
  #include <libplayerc++/playerc++.h>
  #include "cpointers.h"
  
  void mexFunction ( int nlhs, mxArray *plhs[], int nrhs,  const mxArray *prhs[] ) {
      if (nrhs != 4 || ! mxIsNumeric (prhs[0])  || ! mxIsDouble (prhs[1]) || ! mxIsDouble (prhs[2]) || ! mxIsDouble (prhs[3])) {
          mexPrintf("usage: %s (pose2d, x, y, yaw )\n", mexFunctionName());
  				mexErrMsgTxt ("Wrong command");
      }
      double aX = *mxGetPr(prhs[1]);
      double aY = *mxGetPr(prhs[2]);
      double aYaw = *mxGetPr(prhs[3]);
      PlayerCc::Position2dProxy *pPos2D = getCPointer<PlayerCc::Position2dProxy>(prhs[0]);
      pPos2D->SetOdometry(aX, aY, aYaw);
  }
  