# -*- Makefile -*-
#
# @file  Makefile.RH2ArmControl
# @brief RTComponent makefile for "RH2ArmControl component"
# @date  $Date$
#
# This file is generated by rtc-template with the following argments.
#
#   rtc-template -b --module-name=RH2ArmControl 
#   --module-desc='ArmController' --module-version=3.0.0 --module-vendor=AIST INVENT 
#   --module-category=Controller --module-comp-type=STATIC 
#   --module-act-type=EVENT_DRIVEN --module-max-inst=10 
#   --config=DeviceFileName:std::string:/dev/ttyUSB0 --config=Pgain_1:int:10 --config=Pgain_2:int:10 --config=Pgain_3:int:14 --config=Pgain_4:int:14 --config=Pgain_5:int:10 --config=Pgain_6:int:50 --config=Pgain_7:int:50 --config=Igain_1:int:0 --config=Igain_2:int:0 --config=Igain_3:int:0 --config=Igain_4:int:0 --config=Igain_5:int:0 --config=Igain_6:int:0 --config=Igain_7:int:0 --config=Dgain_1:int:0 --config=Dgain_2:int:0 --config=Dgain_3:int:0 --config=Dgain_4:int:0 --config=Dgain_5:int:0 --config=Dgain_6:int:0 --config=Dgain_7:int:0 --config=VPgain_1:int:20 --config=VPgain_2:int:50 --config=VPgain_3:int:100 --config=VPgain_4:int:150 --config=VPgain_5:int:50 --config=VPgain_6:int:150 --config=VPgain_7:int:250 --config=VIgain_1:int:0 --config=VIgain_2:int:0 --config=VIgain_3:int:0 --config=VIgain_4:int:0 --config=VIgain_5:int:0 --config=VIgain_6:int:0 --config=VIgain_7:int:0 --config=VDgain_1:int:0 --config=VDgain_2:int:0 --config=VDgain_3:int:0 --config=VDgain_4:int:0 --config=VDgain_5:int:0 --config=VDgain_6:int:0 --config=VDgain_7:int:0 --config=VelocLimit_1:double:1.04 --config=VelocLimit_2:double:0.52 --config=VelocLimit_3:double:0.4 --config=VelocLimit_4:double:0.88 --config=VelocLimit_5:double:1.11 --config=VelocLimit_6:double:2.45 --config=VelocLimit_7:double:0.013 --config=AccelLimit_1:double:2.09 --config=AccelLimit_2:double:1.84 --config=AccelLimit_3:double:2.04 --config=AccelLimit_4:double:4.41 --config=AccelLimit_5:double:5.57 --config=AccelLimit_6:double:12.27 --config=AccelLimit_7:double:0.08 --config=GearRatio_1:double:300.0 --config=GearRatio_2:double:333.0 --config=GearRatio_3:double:300.0 --config=GearRatio_4:double:360.0 --config=GearRatio_5:double:300.0 --config=GearRatio_6:double:100.0 --config=GearRatio_7:double:4.4 --config=EncoderCount_1:int:1000 --config=EncoderCount_2:int:1024 --config=EncoderCount_3:int:1024 --config=EncoderCount_4:int:512 --config=EncoderCount_5:int:512 --config=EncoderCount_6:int:512 --config=EncoderCount_7:int:512 
#   --inport=InArmVelocity:TimedDoubleSeq --outport=OutArmAngle:TimedDoubleSeq 
#
#
# $Id$
#
CXXFLAGS = `rtm-config --cflags` -I.
#LDFLAGS  = `rtm-config --libs`
LDFLAGS  = `rtm-config --libs` -L. -Wl,-rpath . -lsvm -lrt -lm
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     = RH2ArmControl.o $(SKEL_OBJ) $(STUB_OBJ) $(IMPL_OBJ)

.SUFFIXES : .so

all: RH2ArmControl.so RH2ArmControlComp

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

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

RH2ArmControlComp: RH2ArmControlComp.o $(OBJS)
	$(CXX) -o $@ $(OBJS) RH2ArmControlComp.o $(LDFLAGS) 


clean: clean_objs clean_skelstub
	rm -f *~
	rm -f *.log
	rm log_*.txt

clean_objs:
	rm -f $(OBJS) RH2ArmControlComp.o RH2ArmControl.so RH2ArmControlComp

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

# add start 2011.01.24 by rtc-center
install:
	cp -p RH2ArmControlComp ../../../bin/comp
	cp -p RH2ArmControl.so ../../../bin/so
# add end   2011.01.24 by rtc-center

RH2ArmControl.so: $(OBJS)
RH2ArmControl.o: RH2ArmControl.h 	 	
RH2ArmControlComp.o: RH2ArmControlComp.cpp RH2ArmControl.cpp RH2ArmControl.h 



# end of Makefile
