Am 14.11.2013 um 21:11 schrieb Frank Tkalcevic <[email protected]>:
> I managed to convert the generated C++ to C, and get that working in the > simulator (for Translate3D and TranslationXAxisAngle4D). > > Then I created an openrave module to generate the C code. That worked in > the simulator. > > Now I've moved from my Vmware 12.04 simulator, to a 10.04 atom box trying to > build the realtime version. This was another level of work mainly because > of the different header files the kernel uses. > > My problem at the moment is linking in a 3rd party math library, lapack. I > can link in the static library, liblapack.a, but that still leaves me with a > lot of undefined symbols. Some of these are from the libgfortran, but I > only have a shared library installed. The other symbols I think are within > liblapack.a itself, so I'm not sure how I can modify the kbuild stuff to > keep looking in liblapack.a to find self referenced symbols. I think your only realistic option is to build this with a userland RT threads style (rt-preempt or xenomai-user) using this branch: http://static.mah.priv.at/public/UnifiedBuild.html - this is very similar to the sim environment in terms of libraries you can use. as far as in-kernel math goes I think lapack and fortran libraries are outside the design envelope for kernel threads flavors, both RTAI and xenomai-kernel. That was a problem which was waiting to happen - clue up kernel RT modules in terms of math, bang I think it is time to realize kernel threads RT are a technology which has reached end-of-life - Michael > > WARNING: "dtrmv_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "_gfortran_concat_string" > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "dnrm2_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "daxpy_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "dger_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "idamax_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "_gfortran_stop_numeric" > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "dtrsm_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "_gfortran_transfer_integer" > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "_gfortran_compare_string" > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "dgemm_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "ddot_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "_gfortran_string_len_trim" > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "_gfortran_st_write_done" > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "dcopy_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "_gfortran_transfer_character" > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "dswap_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "drot_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "logf" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "dgemv_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "__powidf2" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "dscal_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "_gfortran_st_write" [/home/frankt/git/ikfast/src/ikfastkins.ko] > undefined! > WARNING: "dtrmm_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > WARNING: "lroundf" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > > >> -----Original Message----- >> From: Marius Alksnys [mailto:[email protected]] >> Sent: Friday, 15 November 2013 4:16 AM >> To: [email protected] >> Subject: Re: [Emc-developers] Building a new C++ kinematics module >> >> Frank, >> >> have you made any progress with it? Please let me know if you do. >> >> Thanks. >> >> >> > ---------------------------------------------------------------------------- > -- >> DreamFactory - Open Source REST & JSON Services for HTML5 & Native Apps >> OAuth, Users, Roles, SQL, NoSQL, BLOB Storage and External API Access Free >> app hosting. Or install the open source package on any LAMP server. >> Sign up and see examples for AngularJS, jQuery, Sencha Touch and Native! >> http://pubads.g.doubleclick.net/gampad/clk?id=63469471&iu=/4140/ostg.clk >> trk >> _______________________________________________ >> Emc-developers mailing list >> [email protected] >> https://lists.sourceforge.net/lists/listinfo/emc-developers > > > ------------------------------------------------------------------------------ > DreamFactory - Open Source REST & JSON Services for HTML5 & Native Apps > OAuth, Users, Roles, SQL, NoSQL, BLOB Storage and External API Access > Free app hosting. Or install the open source package on any LAMP server. > Sign up and see examples for AngularJS, jQuery, Sencha Touch and Native! > http://pubads.g.doubleclick.net/gampad/clk?id=63469471&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers ------------------------------------------------------------------------------ DreamFactory - Open Source REST & JSON Services for HTML5 & Native Apps OAuth, Users, Roles, SQL, NoSQL, BLOB Storage and External API Access Free app hosting. Or install the open source package on any LAMP server. Sign up and see examples for AngularJS, jQuery, Sencha Touch and Native! http://pubads.g.doubleclick.net/gampad/clk?id=63469471&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
