The kinematics module in some examples, in particular when dealing with the direct kinematics, needs to solve a Newton-Raphson proccedure; to that end there is a primitive solver, along some others to do matrix products et al.
So I think that the problem can solved If appropriate solvers are used. So what is needed is to implement them or to copy them from somewhere. I suppose that the number of functions IKFast you are calling from lapack and blas is not really big, so probably you can get the code. A f2c-ed version of lapack and blas, clapack and cblas do exist ( http://www.netlib.org/clapack/). Nevertheless they rely on the library libf2c. Probably the code can be taken from this, because the philosophy is more or less "a file a subroutine". Not saying that this is easy, put seems possible. A different possibility is to hack IKFast code so it does not use Lapack but a different / equivalent subroutine found elsewhere. No idea about the required Lacpack subroutines, but probably it is possible to find code easily elsewhere. We have our own C linear algebra libraries that can be shared using a GPL license, they have the fundamental subs for multibody dynamics -although we are constantly modifying it-. We started to develop it just to solve our own needs and to be able to run it on real-time systems. Looking into the future of LCNC, even if in user space, I think that having a linear_algebra.c and .h with standard LU LDL PINV,..., could be interesting, allowing to standarize kinematics module development, and may be development of other modules having linear algebra needs. Javier On Thu, Nov 14, 2013 at 11:45 PM, Michael Haberler <[email protected]>wrote: > > Am 14.11.2013 um 21:11 schrieb Frank Tkalcevic < > [email protected]>: > > > I managed to convert the generated C++ to C, and get that working in the > > simulator (for Translate3D and TranslationXAxisAngle4D). > > > > Then I created an openrave module to generate the C code. That worked in > > the simulator. > > > > Now I've moved from my Vmware 12.04 simulator, to a 10.04 atom box > trying to > > build the realtime version. This was another level of work mainly > because > > of the different header files the kernel uses. > > > > My problem at the moment is linking in a 3rd party math library, lapack. > I > > can link in the static library, liblapack.a, but that still leaves me > with a > > lot of undefined symbols. Some of these are from the libgfortran, but I > > only have a shared library installed. The other symbols I think are > within > > liblapack.a itself, so I'm not sure how I can modify the kbuild stuff to > > keep looking in liblapack.a to find self referenced symbols. > > I think your only realistic option is to build this with a userland RT > threads style (rt-preempt or xenomai-user) using this branch: > http://static.mah.priv.at/public/UnifiedBuild.html - this is very similar > to the sim environment in terms of libraries you can use. > > as far as in-kernel math goes I think lapack and fortran libraries are > outside the design envelope for kernel threads flavors, both RTAI and > xenomai-kernel. > > That was a problem which was waiting to happen - clue up kernel RT modules > in terms of math, bang > > I think it is time to realize kernel threads RT are a technology which has > reached end-of-life > > - Michael > > > > > WARNING: "dtrmv_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "_gfortran_concat_string" > > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "dnrm2_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "daxpy_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "dger_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "idamax_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "_gfortran_stop_numeric" > > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "dtrsm_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "_gfortran_transfer_integer" > > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "_gfortran_compare_string" > > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "dgemm_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "ddot_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "_gfortran_string_len_trim" > > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "_gfortran_st_write_done" > > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "dcopy_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "_gfortran_transfer_character" > > [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "dswap_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "drot_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "logf" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "dgemv_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "__powidf2" [/home/frankt/git/ikfast/src/ikfastkins.ko] > undefined! > > WARNING: "dscal_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "_gfortran_st_write" [/home/frankt/git/ikfast/src/ikfastkins.ko] > > undefined! > > WARNING: "dtrmm_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > WARNING: "lroundf" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined! > > > > > > > >> -----Original Message----- > >> From: Marius Alksnys [mailto:[email protected]] > >> Sent: Friday, 15 November 2013 4:16 AM > >> To: [email protected] > >> Subject: Re: [Emc-developers] Building a new C++ kinematics module > >> > >> Frank, > >> > >> have you made any progress with it? Please let me know if you do. > >> > >> Thanks. > >> > >> > >> > > > ---------------------------------------------------------------------------- > > -- > >> DreamFactory - Open Source REST & JSON Services for HTML5 & Native Apps > >> OAuth, Users, Roles, SQL, NoSQL, BLOB Storage and External API Access > Free > >> app hosting. Or install the open source package on any LAMP server. > >> Sign up and see examples for AngularJS, jQuery, Sencha Touch and Native! > >> > http://pubads.g.doubleclick.net/gampad/clk?id=63469471&iu=/4140/ostg.clk > >> trk > >> _______________________________________________ > >> Emc-developers mailing list > >> [email protected] > >> https://lists.sourceforge.net/lists/listinfo/emc-developers > > > > > > > ------------------------------------------------------------------------------ > > DreamFactory - Open Source REST & JSON Services for HTML5 & Native Apps > > OAuth, Users, Roles, SQL, NoSQL, BLOB Storage and External API Access > > Free app hosting. Or install the open source package on any LAMP server. > > Sign up and see examples for AngularJS, jQuery, Sencha Touch and Native! > > > http://pubads.g.doubleclick.net/gampad/clk?id=63469471&iu=/4140/ostg.clktrk > > _______________________________________________ > > Emc-developers mailing list > > [email protected] > > https://lists.sourceforge.net/lists/listinfo/emc-developers > > > > ------------------------------------------------------------------------------ > DreamFactory - Open Source REST & JSON Services for HTML5 & Native Apps > OAuth, Users, Roles, SQL, NoSQL, BLOB Storage and External API Access > Free app hosting. Or install the open source package on any LAMP server. > Sign up and see examples for AngularJS, jQuery, Sencha Touch and Native! > http://pubads.g.doubleclick.net/gampad/clk?id=63469471&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers > ------------------------------------------------------------------------------ DreamFactory - Open Source REST & JSON Services for HTML5 & Native Apps OAuth, Users, Roles, SQL, NoSQL, BLOB Storage and External API Access Free app hosting. Or install the open source package on any LAMP server. Sign up and see examples for AngularJS, jQuery, Sencha Touch and Native! http://pubads.g.doubleclick.net/gampad/clk?id=63469471&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
