Buongiorno,
Avrei la necessità di compilare una libreria matematica
http://www.cours.polymtl.ca/roboop/ sotto la fox. Premetto che la libreria
si compila sia sotto window che in linux (debian).
Ho modificato il Makefile aggiungendo le direttive relative alla fox
# Roboop Makefile for GNU g++
# $Id: makefile.gcc,v 1.22 2006/08/17 17:36:17 gourdeau Exp $
AXIS_USABLE_LIBS = UCLIBC GLIBC
include $(AXIS_TOP_DIR)/tools/build/Rules.axis
#CC = g++
# uncomment the -fno-const-strings in the next line for gcc 2.95.2
# edit the following to reflect the location of boost include files
# if not in the defaut (/usr/include)
BOOST_INCLUDE_DIR=/usr/include
CFLAGS = -O -I $(BOOST_INCLUDE_DIR) -I ./source -I ./newmat -Wall
-D_REENTRANT -pthread
#-Duse_namespace -fno-const-strings
LIBS = -L./ -lroboop -lnewmat -lm -pthread
AR = ar
RANLIB = ranlib
%.o : source/%.cpp
$(CC) -c $(CFLAGS) -o $@ $<
%.o : newmat/%.cpp
$(CC) -c $(CFLAGS) -o $@ $<
All: rtest demo bench demo_2dof_pd libnewmat.a libroboop.a
Deprtest = rtest.o libroboop.a libnewmat.a
rtest : $(Deprtest)
$(CC) $< -o $@ $(LIBS)
rtest.o : source/rtest.cpp source/utils.h source/robot.h
Depdemo_2dof_pd = demo_2dof_pd.o libroboop.a libnewmat.a
demo_2dof_pd : $(Depdemo_2dof_pd)
$(CC) $< -o $@ $(LIBS)
demo_2dof_pd.o : source/demo_2dof_pd.cpp source/utils.h source/robot.h
Depdemo = demo.o libroboop.a libnewmat.a
demo: $(Depdemo)
$(CC) $< -o $@ $(LIBS)
demo.o : source/demo.cpp source/quaternion.h source/gnugraph.h
source/utils.h source/robot.h
Deprobooplib = \
gnugraph.o comp_dq.o comp_dqp.o delta_t.o \
dynamics.o homogen.o kinemat.o robot.o \
sensitiv.o utils.o quaternion.o config.o \
trajectory.o clik.o controller.o invkine.o \
control_select.o dynamics_sim.o stewart.o
libroboop.a : $(Deprobooplib)
rm -f $@
$(AR) rc $@ $(Deprobooplib)
$(RANLIB) $@
controller.o: source/controller.cpp source/controller.h
control_select.o: source/control_select.cpp source/control_select.h
dynamics_sim.o: source/dynamics_sim.cpp source/dynamics_sim.h
trajectory.o: source/trajectory.cpp source/trajectory.h
clik.o : source/clik.cpp source/clik.h source/utils.h source/robot.h
robot.o : source/robot.cpp source/utils.h source/robot.h
config.o : source/config.cpp source/config.h
quaternion.o : source/quaternion.cpp source/quaternion.h
gnugraph.o : source/gnugraph.cpp source/gnugraph.h source/utils.h
source/robot.h
comp_dq.o : source/comp_dq.cpp source/utils.h source/robot.h
comp_dqp.o : source/comp_dqp.cpp source/utils.h source/robot.h
delta_t.o : source/delta_t.cpp source/utils.h source/robot.h
dynamics.o : source/dynamics.cpp source/utils.h source/robot.h
homogen.o : source/homogen.cpp source/utils.h source/robot.h
invkine.o : source/invkine.cpp source/utils.h source/robot.h
kinemat.o : source/kinemat.cpp source/utils.h source/robot.h
sensitiv.o : source/sensitiv.cpp source/utils.h source/robot.h
utils.o : source/utils.cpp source/utils.h source/robot.h
stewart.o : source/stewart.cpp source/stewart.h source/utils.h
Depnewmatlib = \
bandmat.o cholesky.o evalue.o fft.o\
hholder.o jacobi.o myexcept.o newmat1.o\
newmat2.o newmat3.o newmat4.o newmat5.o\
newmat6.o newmat7.o newmat8.o newmat9.o\
newmatex.o newmatnl.o newmatrm.o solution.o\
sort.o submat.o svd.o newfft.o\
nm_misc.o
libnewmat.a: $(Depnewmatlib)
rm -f $@
$(AR) rc $@ $(Depnewmatlib)
$(RANLIB) $@
bandmat.o : newmat/bandmat.cpp
cholesky.o : newmat/cholesky.cpp
evalue.o : newmat/evalue.cpp
fft.o : newmat/fft.cpp
newfft.o : newmat/newfft.cpp
hholder.o : newmat/hholder.cpp
jacobi.o : newmat/jacobi.cpp
myexcept.o : newmat/myexcept.cpp
newmat1.o : newmat/newmat1.cpp
newmat2.o : newmat/newmat2.cpp
newmat3.o : newmat/newmat3.cpp
newmat4.o : newmat/newmat4.cpp
newmat5.o : newmat/newmat5.cpp
newmat6.o : newmat/newmat6.cpp
newmat7.o : newmat/newmat7.cpp
newmat8.o : newmat/newmat8.cpp
newmat9.o : newmat/newmat9.cpp
newmatex.o : newmat/newmatex.cpp
newmatnl.o : newmat/newmatnl.cpp
newmatrm.o : newmat/newmatrm.cpp
nm_misc.o : newmat/nm_misc.cpp
solution.o : newmat/solution.cpp
sort.o : newmat/sort.cpp
submat.o : newmat/submat.cpp
svd.o : newmat/svd.cpp
Depbench = bench.o libroboop.a libnewmat.a
bench : $(Depbench)
$(CC) $< -o $@ $(LIBS)
bench.o : source/bench.cpp source/utils.h source/robot.h
clean:
rm *.o *.a
veryclean: clean
rm rtest bench demo demo_2dof_pd
quando esegui il make All
gcc-cris -isystem
/home/fox/devboard-R2_01/target/cris-axis-linux-gnu/include -mlinux
-mno-mul-bug-workaround -c -O -I /usr/include -I ./source -I ./newmat -Wall
-D_REENTRANT -pthread -o rtest.o source/rtest.cpp
gcc-cris -isystem
/home/fox/devboard-R2_01/target/cris-axis-linux-gnu/include -mlinux
-mno-mul-bug-workaround -c -O -I /usr/include -I ./source -I ./newmat -Wall
-D_REENTRANT -pthread -o gnugraph.o source/gnugraph.cpp
gcc-cris -isystem
/home/fox/devboard-R2_01/target/cris-axis-linux-gnu/include -mlinux
-mno-mul-bug-workaround -c -O -I /usr/include -I ./source -I ./newmat -Wall
-D_REENTRANT -pthread -o comp_dq.o source/comp_dq.cpp
gcc-cris -isystem
/home/fox/devboard-R2_01/target/cris-axis-linux-gnu/include -mlinux
-mno-mul-bug-workaround -c -O -I /usr/include -I ./source -I ./newmat -Wall
-D_REENTRANT -pthread -o comp_dqp.o source/comp_dqp.cpp
gcc-cris -isystem
/home/fox/devboard-R2_01/target/cris-axis-linux-gnu/include -mlinux
-mno-mul-bug-workaround -c -O -I /usr/include -I ./source -I ./newmat -Wall
-D_REENTRANT -pthread -o delta_t.o source/delta_t.cpp
gcc-cris -isystem
/home/fox/devboard-R2_01/target/cris-axis-linux-gnu/include -mlinux
-mno-mul-bug-workaround -c -O -I /usr/include -I ./source -I ./newmat -Wall
-D_REENTRANT -pthread -o dynamics.o source/dynamics.cpp
gcc-cris -isystem
/home/fox/devboard-R2_01/target/cris-axis-linux-gnu/include -mlinux
-mno-mul-bug-workaround -c -O -I /usr/include -I ./source -I ./newmat -Wall
-D_REENTRANT -pthread -o homogen.o source/homogen.cpp
a questo punto ottengo un errore
/usr/include/bits/mathinline.h: In function 'ReturnMatrix irotk(const
Matrix&)':
/usr/include/bits/mathinline.h:425 unkknown register name 'st(1)' in 'asm'
/usr/include/bits/mathinline.h:425 unkknown register name 'st(1)' in 'asm'
/usr/include/bits/mathinline.h:425 unkknown register name 'st(1)' in 'asm'
/usr/include/bits/mathinline.h:425 unkknown register name 'st(1)' in 'asm'
/usr/include/bits/mathinline.h:425 unkknown register name 'st(1)' in 'asm'
make: *** [homegen.o] Error 1
Ho trovato in internet che questo errore è dovuto ad una direttiva errata,
il registro st è presente nelle cpu x86.
Qualcuno sa darmi qualche indicazione?
Grazie
Ezio
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