# -*- Makefile -*-
#
# @file  Makefile.GraspPlanner
# @brief RTComponent makefile for "GraspPlanner component"
# @date  $Date$
#
# This file is generated by rtc-template with the following argments.
#
#   rtc-template -bcxx --module-name=GraspPlanner 
#   --module-desc='Grasp Planner' --module-version=1.0.0 --module-vendor=AIST 
#   --module-category=Planner --module-comp-type=STATIC 
#   --module-act-type=EVENTDRIVEN --module-max-inst=0 
#   --config=Position:vector<double>:0,0,0 --config=Posture:vetor<double>:1,0,0,0,1,0,0,0,1 
#   --service-idl=/home/tsuji/workspace/GraspPlan2010/GraspController.idl 
#   --consumer-idl=/home/tsuji/workspace/GraspPlan2010/GraspController.idl 
#   --service=PlannStartPort:PlanStart:GraspPlanStart 
#   --consumer=ResultPort:Result:GraspPlanResult 
#
#
# $Id$
#
CHOREONOID = /home/asa/workspace/Choreonoid
CXXFLAGS = `rtm-config --cflags` -I.
LDFLAGS  = `rtm-config --libs` -L/usr/lib -L/usr/local/lib
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 = GraspControllerSkel.o 
STUB_OBJ = 
IMPL_OBJ = GraspControllerSVC_impl.o 
OBJS     = GraspPlanningImpl.o GraspPlanner.o $(SKEL_OBJ) $(STUB_OBJ) $(IMPL_OBJ) 

.SUFFIXES : .so

all: GraspPlanner.so GraspPlannerComp

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

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

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


clean: clean_objs clean_skelstub
	rm -f *~

clean_objs:
	rm -f $(OBJS) GraspPlannerComp.o GraspPlanner.so GraspPlannerComp

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

GraspControllerSkel.cpp : GraspController.idl
	$(IDLC) $(IDLFLAGS) GraspController.idl
	$(WRAPPER) $(WRAPPER_FLAGS) --idl-file=GraspController.idl
GraspControllerSkel.h : GraspController.idl
	$(IDLC) $(IDLFLAGS) GraspController.idl
	$(WRAPPER) $(WRAPPER_FLAGS) --idl-file=GraspController.idl



GraspPlanner.so: $(OBJS)
GraspPlanner.o: GraspPlanner.h 	GraspControllerSkel.h GraspControllerSVC_impl.h  	
GraspPlannerComp.o: GraspPlannerComp.cpp GraspPlanner.cpp GraspPlanner.h GraspControllerSkel.h GraspControllerSVC_impl.h 

GraspControllerSVC_impl.o: GraspControllerSVC_impl.cpp GraspControllerSVC_impl.h GraspControllerSkel.h GraspControllerStub.h
GraspControllerSkel.o: GraspControllerSkel.cpp GraspControllerSkel.h GraspControllerStub.h
GraspControllerStub.o: GraspControllerStub.cpp GraspControllerStub.h

GraspPlanningImpl.o: GraspPlanningImpl.cpp GraspPlanningImpl.h DMatrix.h

# end of Makefile
