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Makefile
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Makefile
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# To make ROBOT=HRP2STEP1
# The makefile in which the target plugin is actually made is found in /Sample/IOServer/Make.rules.common
include Makefile.robot
all: target
# Parent directory setings
#include ../Makefile.setup
#--------------------------------------------- Locations -----------------------------------------------------------
TOP = /home/grxuser/src/OpenHRP3.0/
DYNAMICSSIMULATOR = $(TOP)DynamicsSimulator/
# Rules
include $(TOP)Controller/IOserver/plugin/Make.rules
#--------------------------------------------- Compile Commands -----------------------------------------------------------
#CXX_FLAGS += -g -Wall -O1 # Compilation Flags
CXX_FLAGS += -std=c++0x
CXX_FLAGS:=$(CXX_FLAGS) -I/usr/include/qdbm
CXX_FLAGS += -fno-schedule-insns -fno-schedule-insns2 -fno-strict-aliasing
#CXX_FLAGS += -DDEBUG_PLUGIN -DDEBUG_PLUGIN2 -DDEBUG_PLUGIN3 # Flag DEBUG_PLUGIN is used in forceSensorPlugin.cpp,...PLUGIN_2 in hiroArm, ...PLUGIN3, in AssemblyStrat.
CXX_FLAGS += -DPIVOTAPPROACH #-DIMPEDANCE
CXX_FLAGS += -DSIMULATION
#CXX_FLAGS += -DWRITELOG
CXX_FLAGS += -I$(TOP)Controller/IOserver/include
CXX_FLAGS += -I$(TOP)Controller/IOserver/robot/HRP2STEP1/
CXX_FLAGS += -I$(TOP)Common -I$(TOP)Controller/IOserver/robot/HRP2STEP1/iob/
CXX_FLAGS += -I$(TOP)Controller/IOserver/robot/HRP2STEP1/iob/hrp_servo/ifspci/
CXX_FLAGS += -I../corba -I$(TOP)DynamicsSimulator/server -I$(MODELLOADER)/$(CORBA_DIR)
#------------------------------------------ Linking Commands --------------------------------------------------------
LINK += -L$(TOP)Controller/IOserver/robot/HRP2STEP1/bin
LINK += -L$(TOP)Controller/IOserver/robot/HRP2STEP1/iob/hrp_servo/ifspci/
#LINK += -lAssemblyStrategy -lFilterTools
#CXX_FLAGS += -I/usr/include/boost
#CXX_FLAGS += -I$(HOME)/src/Matrix/boost-cvs/boost-sandbox
#CXX_FLAGS += -I$(TOP)Controller/IOserver/plugin/IoControlPlugin/$(CORBA_DIR)
#------------------------------------------ QNX --------------------------------------------------------
## If the operating system is QNX, fix the flags
#ifneq ($(OSNAME),QNX)
CXX_FLAGS += -pg -ggdb3
#else
# CXX_FLAGS += -ggdb3
#endif
#------------------------------------------ Objects --------------------------------------------------------
forceSensorPlugin_impl.cpp: forceSensorPlugin_impl.h
forceSensorPlugin_impl.o: forceSensorPlugin_impl.cpp
$(TOP)Controller/IOserver/robot/HRP2STEP1/iob/hrp_servo/ifspci/ifs_com.c: $(TOP)Controller/IOserver/robot/HRP2STEP1/iob/hrp_servo/ifspci/ifs_com.h
ifs_com.o: $(TOP)Controller/IOserver/robot/HRP2STEP1/iob/hrp_servo/ifspci/ifs_com.c
$(CC) $(CXX_FLAGS) -c $<
$(TOP)Controller/IOserver/robot/HRP2STEP1/iob/hrp_servo/ifspci/ifs.c: $(TOP)Controller/IOserver/robot/HRP2STEP1/iob/hrp_servo/ifspci/ifs.h
ifs.o: $(TOP)Controller/IOserver/robot/HRP2STEP1/iob/hrp_servo/ifspci/ifs.c
$(CC) $(CXX_FLAGS) -c $<
hiroArm.cpp: hiroArm.h
hiroArm.o: hiroArm.cpp
FilterTools.cpp: FilterTools.h
FilterTools.o: FilterTools.cpp
ControlBasis.cpp: ControlBasis.h
ControlBasis.o: ControlBasis.cpp
AssemblyStrategy.cpp: AssemblyStrategy.h
AssemblyStrategy.o: AssemblyStrategy.cpp
#---------------------------------- forceSensor_Plugin Executable -------------------------------------------
$(PLUGIN): forceSensorPlugin_impl.o ifs.o ifs_com.o hiroArm.o FilterTools.o ControlBasis.o AssemblyStrategy.o # Object and Library files
#-------------------------------------------- Clean -------------------------------------------
rmversionString:
-$(RM) forceSensorPlugin_impl.o hiroArm.o ifs.o ifs_com.o FilterTools.o ControlBasis.o AssemblyStrategy.o
-$(RM) $(PLUGIN)
#-----------------------------------------------------------------------------------------------------------