# -*- Makefile -*-
#
# @file  Makefile.jinv
# @brief RTComponent makefile for "jinv component"
# @date  $Date$
#
# This file is generated by rtc-template with the following argments.
#
#  /usr/local/bin/rtc-template -bcxx --module-name=jinv 
#  --module-type=DataFlowComponent --module-desc=calc inv of Jacobian 
#  --module-version=1.0 --module-vendor=Takashi Suehiro, AIST 
#  --module-category=jinv --module-comp-type=DataFlowComponent 
#  --module-act-type=SPORADIC --module-max-inst=10 
#  --inport=y_jacob:TimedDoubleSeq --outport=vel:TimedDoubleSeq 
#
#
# $Id$
#
OPT_INC = -I../tools/nr
OPT_OBJ =  ../tools/nr/nrutil.o ../tools/nr/pythag.o ../tools/nr/svdcmp.o ../tools/nr/svbksb.o svd.o

CXXFLAGS = `rtm-config --cflags` $(OPT_INC)
LDFLAGS  = `rtm-config --libs`
SHFLAGS  = -shared

IDLC     = `rtm-config --idlc`
IDLFLAGS = `rtm-config --idlflags` -I`rtm-config --prefix`/include/rtm/idl
WRAPPER  = rtm-skelwrapper
WRAPPER_FLAGS = --include-dir="" --skel-suffix=Skel --stub-suffix=Stub

SKEL_OBJ =  	
STUB_OBJ = 
IMPL_OBJ = 
OBJS     = jinv.o $(SKEL_OBJ) $(IMPL_OBJ) $(OPT_OBJ)

.SUFFIXES : .so

all: jinv.so jinvComp


.cpp.o:
	rm -f $@
	$(CXX) $(CXXFLAGS) -c -o $@ $<

.o.so:
	rm -f $@
	$(CXX) $(SHFLAGS) -o $@ $(OBJS) $(LDFLAGS)

jinvComp: jinvComp.o $(OBJS)
	$(CXX) -o $@ $(OBJS) jinvComp.o $(LDFLAGS) 


clean: clean_objs clean_skelstub
	rm -f *~

clean_objs:
	rm -f jinv.o $(SKEL_OBJ) $(IMPL_OBJ)
#	rm -f $(OBJS) jinv.so jinvComp


clean_skelstub:
	rm -f *Skel.h *Skel.cpp
	rm -f *Stub.h *Stub.cpp








jinv.so: $(OBJS)
jinv.o: jinv.h 	 	
jinvComp.o: jinvComp.cpp jinv.cpp jinv.h 





# end of Makefile
