#/***************************************************************
# * Makefile
# ****************************************************************/
#/*
# * modification history
# *----------------------
# *
# */

CC= QCC
OPT= -g
#DBG= -g
CFLAGS= $(OPT)
LD= $(CC)
LDFLAGS= $(CFLAGS)
LIBDIR= -L/local-svd/pr/lib
LIBS= -lsocket -lnetwork -lutility -ldriver -lmatrix -lnewmat -lrobot

DEFINES= -DPR_QNX

SRC=    \
        PrTreeRobot.cpp \
        PrJointControl.cpp \
        PrOpControl.cpp \
        PrExtendedOpControl.cpp \
	dynamicsCalc.cpp  \
	dynamicsPlot.cpp  \
	pumaDynamics.cpp  \
	dynamics.cpp 

OBJ= $(SRC:.cpp=.o)

OBJ1=    \
        PrTreeRobot.o \
        PrJointControl.o \
        PrOpControl.o \
        PrExtendedOpControl.o 

SRCDIR= .
INCDIR= -I/local-svd/pr/include -I$(DRV_DIR)

all:	dynamics dynamics2 dynamics3 puma

%.o :	$(SRCDIR)/%.cpp
	$(CC) $(INCDIR) $(CFLAGS) $(DEFINES) -c $<


dynamics:	$(OBJ) 
	$(LD) $(LDFLAGS) -o dynamics dynamics.o $(OBJ1) $(OBJ_DRV) \
	$(LIBDIR) $(LIBS)


dynamics2:	$(OBJ) 
	$(LD) $(LDFLAGS) -o dynamics2 dynamicsCalc.o $(OBJ1) $(OBJ_DRV) \
	$(LIBDIR) $(LIBS)

dynamics3:	$(OBJ) 
	$(LD) $(LDFLAGS) -o dynamics3 dynamicsPlot.o $(OBJ1) $(OBJ_DRV) \
	$(LIBDIR) $(LIBS)

puma:	$(OBJ) 
	$(LD) $(LDFLAGS) -o puma pumaDynamics.o $(OBJ1) $(OBJ_DRV) \
	$(LIBDIR) $(LIBS)
clean:
	rm -f $(OBJ) *~ *.bak *.err dynamics dynamics2 dynamics3 puma


