fix: 更改内容如下：

1.目录结构整理 2.aubo_driver文件部署自动化脚本添加 3.示例程序依赖目录更改为~/.aubo下 4.rebase整理commit
AuboRobot · Feb 25, 2021 · c322d8a · c322d8a
1 parent 26e883c
commit c322d8a
Show file tree

Hide file tree

Showing 92 changed files with 80 additions and 63 deletions.
diff --git a/.gitignore b/.gitignore
@@ -6,10 +6,11 @@
 *.a
 *.la
 *.lai
-#*.so
+*.so
 *.dll
 *.dylib
 
+
 # Qt-es
 
 object_script.*.Release
@@ -60,5 +61,8 @@ data_model_test
 feature_contribution_model_test
 
 
+#file
+*.zip
+
 
 
diff --git a/utils/00_motion_by_aubocontrolbox/.gitignore → demo/00_motion_by_aubocontrolbox/.gitignore b/utils/00_motion_by_aubocontrolbox/.gitignore → demo/00_motion_by_aubocontrolbox/.gitignore
diff --git a/utils/00_motion_by_aubocontrolbox/main.cpp → demo/00_motion_by_aubocontrolbox/main.cpp b/utils/00_motion_by_aubocontrolbox/main.cpp → demo/00_motion_by_aubocontrolbox/main.cpp
diff --git a/demo/00_motion_by_aubocontrolbox/motion_by_aubocontrolbox.pro b/demo/00_motion_by_aubocontrolbox/motion_by_aubocontrolbox.pro
@@ -0,0 +1,12 @@
+TEMPLATE = app
+CONFIG += console c++11
+CONFIG -= app_bundle
+CONFIG -= qt
+
+HOME_DIR = $$system(echo $HOME)
+
+INCLUDEPATH += $$HOME_DIR/.aubo/include
+LIBS += -L$$HOME_DIR/.aubo/lib -laubo_driver -lpthread -ldl
+
+SOURCES += \
+        main.cpp
diff --git a/utils/01_rtde/.gitignore → demo/01_rtde/.gitignore b/utils/01_rtde/.gitignore → demo/01_rtde/.gitignore
diff --git a/utils/01_rtde/main.cpp → demo/01_rtde/main.cpp b/utils/01_rtde/main.cpp → demo/01_rtde/main.cpp
diff --git a/utils/01_rtde/readme.md → demo/01_rtde/readme.md b/utils/01_rtde/readme.md → demo/01_rtde/readme.md
diff --git a/utils/01_rtde/record/record3.offt → demo/01_rtde/record/record3.offt b/utils/01_rtde/record/record3.offt → demo/01_rtde/record/record3.offt
diff --git a/utils/01_rtde/rtde.pro → demo/01_rtde/rtde.pro b/utils/01_rtde/rtde.pro → demo/01_rtde/rtde.pro
@@ -3,8 +3,10 @@ CONFIG += console c++11
 CONFIG -= app_bundle
 CONFIG -= qt
 
-INCLUDEPATH += /usr/arcs/include
-LIBS += -L/usr/arcs/lib -laubo_driver -lpthread -ldl
+HOME_DIR = $$system(echo $HOME)
+
+INCLUDEPATH += $$HOME_DIR/.aubo/include
+LIBS += -L$$HOME_DIR/.aubo/lib -laubo_driver -lpthread -ldl
 
 HEADERS += trajectory_io.h
 

diff --git a/utils/01_rtde/trajectory_io.cpp → demo/01_rtde/trajectory_io.cpp b/utils/01_rtde/trajectory_io.cpp → demo/01_rtde/trajectory_io.cpp
diff --git a/utils/01_rtde/trajectory_io.h → demo/01_rtde/trajectory_io.h b/utils/01_rtde/trajectory_io.h → demo/01_rtde/trajectory_io.h
diff --git a/utils/02_script_run/.gitignore → demo/02_script_run/.gitignore b/utils/02_script_run/.gitignore → demo/02_script_run/.gitignore
diff --git a/utils/02_script_run/main.cpp → demo/02_script_run/main.cpp b/utils/02_script_run/main.cpp → demo/02_script_run/main.cpp
diff --git a/demo/02_script_run/scriptrun.pro b/demo/02_script_run/scriptrun.pro
@@ -0,0 +1,12 @@
+TEMPLATE = app
+CONFIG += console c++11
+CONFIG -= app_bundle
+CONFIG -= qt
+
+HOME_DIR = $$system(echo $HOME)
+
+INCLUDEPATH += $$HOME_DIR/.aubo/include
+LIBS += -L$$HOME_DIR/.aubo/lib -laubo_driver -lpthread -ldl
+
+SOURCES += \
+        main.cpp
diff --git a/utils/03_robot_math/main.cpp → demo/03_robot_math/main.cpp b/utils/03_robot_math/main.cpp → demo/03_robot_math/main.cpp
@@ -2,7 +2,10 @@
 #include <aubo_driver/aubo_driver.h>
 #include <string.h>
 
+#ifndef M_PI
 #define M_PI 3.14159265358979323846 /* pi */
+#endif
+
 using namespace arcs::aubo_driver;
 
 int main(int argc, char *argv[])

diff --git a/demo/03_robot_math/robotmath.pro b/demo/03_robot_math/robotmath.pro
@@ -0,0 +1,12 @@
+TEMPLATE = app
+CONFIG += console c++11
+CONFIG -= app_bundle
+CONFIG -= qt
+
+HOME_DIR = $$system(echo $HOME)
+
+INCLUDEPATH += $$HOME_DIR/.aubo/include
+LIBS += -L$$HOME_DIR/.aubo/lib -laubo_driver -lpthread -ldl
+
+SOURCES += \
+        main.cpp
diff --git a/doc/auboserver_upgrade.md b/doc/auboserver_upgrade.md
@@ -5,7 +5,7 @@
 
 ## 1\. 升级控制器程序
 
-```bash
+```
 # 启动，建议使用最新版本
 cd aubo_server
 chmod a+x ./auboControllerServer*
@@ -14,7 +14,7 @@ sudo ./auboControllerServer*
 
 ## 2\. 升级接口板固件
 
-```bash
+```
 # 切换到固件升级目录
 cd robot_controller_install_4.10.0/auboFirmware
 # 手动升级接口板Master固件
@@ -30,7 +30,7 @@ cd robot_controller_install_4.10.0/auboFirmware
 
 ## 3\. `AuboScope`示教器程序
 
-```bash
+```
 cd release/aubo_scope
 chmod a+x ./aubo_scope*
 ./aubo_scope*
@@ -52,10 +52,10 @@ chmod a+x ./aubo_scope*
 
  将 aubo-driver_?.?.?.zip 下载到release/aubo_driver目录下
 
-```bash
+```
 cd release/aubo_driver
-chmod u+x unzip.sh
-sudo ./unzip.sh aubo-driver_?.?.?.zip
+chmod u+x deploy.sh
+sudo ./deploy.sh aubo-driver_?.?.?.zip
 
 ```
 

diff --git a/release/aubo_driver/unzip.sh → release/aubo_driver/deploy.sh b/release/aubo_driver/unzip.sh → release/aubo_driver/deploy.sh
@@ -26,31 +26,31 @@ fi
 cd    $File_DIR
 
 #删除旧头文件和库文件(链接符)
-if [ -L "/usr/arcs/lib/libaubo_driver*" ];then
-  sudo rm /usr/arcs/lib/libaubo_driver*
+if [ -h "${HOME}/.aubo/lib/libaubo_driver*" ];then
+  rm ${HOME}/.aubo/lib/libaubo_driver*
 else
-  if [ ! -d "/usr/arcs/" ];then
-  	sudo mkdir /usr/arcs/
+  if [ ! -d "${HOME}/aubo/" ];then
+  	mkdir ${HOME}/.aubo/
   fi
-  if [ ! -d "/usr/arcs/lib" ];then
-  	sudo mkdir /usr/arcs/lib
+  if [ ! -d "${HOME}/aubo/lib/" ];then
+  	mkdir ${HOME}/.aubo/lib/
   fi
 fi
 
-if [ -d "/usr/arcs/include/aubo_driver/" ];then
-  sudo rm -rf /usr/arcs/include/aubo_driver
+if [ -d "${HOME}/aubo/include/aubo_driver/" ];then
+  rm -rf ${HOME}/.aubo/include/aubo_driver/
 else
-  if [ ! -d "/usr/arcs/" ];then
-  	sudo mkdir /usr/arcs/
+  if [ ! -d "${HOME}/aubo/" ];then
+  	mkdir ${HOME}/.aubo/
   fi
-  if [ ! -d "/usr/arcs/include" ];then
-  	sudo mkdir /usr/arcs/include
+  if [ ! -d "${HOME}/.aubo/include/" ];then
+  	mkdir ${HOME}/.aubo/include/
   fi
 fi
 
 
 #拷贝新头文件和库文件
-sudo cp $PWD/lib/libaubo_driver* /usr/arcs/lib/
-sudo cp -rf $PWD/include/aubo_driver/ /usr/arcs/include/
+cp -d $PWD/lib/libaubo_driver* ${HOME}/.aubo/lib/
+cp -rf $PWD/include/aubo_driver/ ${HOME}/.aubo/include/
 
 echo "install successful!"
diff --git a/utils/04_Drag/Drag.cpp → utils/00_Drag/Drag.cpp b/utils/04_Drag/Drag.cpp → utils/00_Drag/Drag.cpp
diff --git a/utils/04_Drag/Drag.h → utils/00_Drag/Drag.h b/utils/04_Drag/Drag.h → utils/00_Drag/Drag.h
diff --git a/utils/04_Drag/Drag.pro → utils/00_Drag/Drag.pro b/utils/04_Drag/Drag.pro → utils/00_Drag/Drag.pro
@@ -4,8 +4,9 @@ CONFIG -= app_bundle
 CONFIG -= qt
 
 QMAKE_CXXFLAGS += $$system(pkg-config --cflags eigen3)
-INCLUDEPATH += /usr/arcs/include
-LIBS += -L/usr/arcs/lib -laubo_driver
+HOME_DIR = $$system(echo $HOME)
+INCLUDEPATH += $$HOME_DIR/.aubo/include
+LIBS += -L$$HOME_DIR/.aubo/lib -laubo_driver -lpthread -ldl
 LIBS += -lpthread
 LIBS += $$PWD/libGravity.so $$PWD/lib_Matrix.so $$PWD/libImpendance.so
 SOURCES += \

diff --git a/utils/04_Drag/Gravity.h → utils/00_Drag/Gravity.h b/utils/04_Drag/Gravity.h → utils/00_Drag/Gravity.h
diff --git a/utils/04_Drag/Impendance.h → utils/00_Drag/Impendance.h b/utils/04_Drag/Impendance.h → utils/00_Drag/Impendance.h
diff --git a/utils/04_Drag/_Matrix.h → utils/00_Drag/_Matrix.h b/utils/04_Drag/_Matrix.h → utils/00_Drag/_Matrix.h
diff --git a/utils/04_Drag/file.txt → utils/00_Drag/file.txt b/utils/04_Drag/file.txt → utils/00_Drag/file.txt
diff --git a/utils/04_Drag/freedrive.cpp → utils/00_Drag/freedrive.cpp b/utils/04_Drag/freedrive.cpp → utils/00_Drag/freedrive.cpp
diff --git a/utils/04_Drag/freedrive.h → utils/00_Drag/freedrive.h b/utils/04_Drag/freedrive.h → utils/00_Drag/freedrive.h
diff --git a/utils/04_Drag/ideconfig.txt → utils/00_Drag/ideconfig.txt b/utils/04_Drag/ideconfig.txt → utils/00_Drag/ideconfig.txt
diff --git a/utils/04_Drag/libGravity.so → utils/00_Drag/libGravity.so b/utils/04_Drag/libGravity.so → utils/00_Drag/libGravity.so
diff --git a/utils/04_Drag/libImpendance.so → utils/00_Drag/libImpendance.so b/utils/04_Drag/libImpendance.so → utils/00_Drag/libImpendance.so
diff --git a/utils/04_Drag/lib_Matrix.so → utils/00_Drag/lib_Matrix.so b/utils/04_Drag/lib_Matrix.so → utils/00_Drag/lib_Matrix.so
diff --git a/utils/04_Drag/main.cpp → utils/00_Drag/main.cpp b/utils/04_Drag/main.cpp → utils/00_Drag/main.cpp
diff --git a/utils/00_motion_by_aubocontrolbox/motion_by_aubocontrolbox.pro b/utils/00_motion_by_aubocontrolbox/motion_by_aubocontrolbox.pro
diff --git a/utils/05_gravity_calibrate/doc/ser.docx → utils/01_gravity_calibrate/doc/ser.docx b/utils/05_gravity_calibrate/doc/ser.docx → utils/01_gravity_calibrate/doc/ser.docx
diff --git a/...5_gravity_calibrate/gravity_calibrate.pro → ...1_gravity_calibrate/gravity_calibrate.pro b/...5_gravity_calibrate/gravity_calibrate.pro → ...1_gravity_calibrate/gravity_calibrate.pro
diff --git a/utils/05_gravity_calibrate/lib/libGravity.so → utils/01_gravity_calibrate/lib/libGravity.so b/utils/05_gravity_calibrate/lib/libGravity.so → utils/01_gravity_calibrate/lib/libGravity.so
diff --git a/utils/05_gravity_calibrate/lib/libMathAlg.so → utils/01_gravity_calibrate/lib/libMathAlg.so b/utils/05_gravity_calibrate/lib/libMathAlg.so → utils/01_gravity_calibrate/lib/libMathAlg.so
diff --git a/utils/05_gravity_calibrate/lib/lib_Matrix.so → utils/01_gravity_calibrate/lib/lib_Matrix.so b/utils/05_gravity_calibrate/lib/lib_Matrix.so → utils/01_gravity_calibrate/lib/lib_Matrix.so
diff --git a/utils/05_gravity_calibrate/readme.md → utils/01_gravity_calibrate/readme.md b/utils/05_gravity_calibrate/readme.md → utils/01_gravity_calibrate/readme.md
diff --git a/utils/05_gravity_calibrate/src/Gravity.h → utils/01_gravity_calibrate/src/Gravity.h b/utils/05_gravity_calibrate/src/Gravity.h → utils/01_gravity_calibrate/src/Gravity.h
diff --git a/utils/05_gravity_calibrate/src/MathAlg.h → utils/01_gravity_calibrate/src/MathAlg.h b/utils/05_gravity_calibrate/src/MathAlg.h → utils/01_gravity_calibrate/src/MathAlg.h
diff --git a/utils/05_gravity_calibrate/src/_Matrix.h → utils/01_gravity_calibrate/src/_Matrix.h b/utils/05_gravity_calibrate/src/_Matrix.h → utils/01_gravity_calibrate/src/_Matrix.h
diff --git a/...s/05_gravity_calibrate/src/async_writer.h → ...s/01_gravity_calibrate/src/async_writer.h b/...s/05_gravity_calibrate/src/async_writer.h → ...s/01_gravity_calibrate/src/async_writer.h
diff --git a/utils/05_gravity_calibrate/src/main.cpp → utils/01_gravity_calibrate/src/main.cpp b/utils/05_gravity_calibrate/src/main.cpp → utils/01_gravity_calibrate/src/main.cpp
diff --git a/...5_gravity_calibrate/src/trajectory_io.cpp → ...1_gravity_calibrate/src/trajectory_io.cpp b/...5_gravity_calibrate/src/trajectory_io.cpp → ...1_gravity_calibrate/src/trajectory_io.cpp
diff --git a/.../05_gravity_calibrate/src/trajectory_io.h → .../01_gravity_calibrate/src/trajectory_io.h b/.../05_gravity_calibrate/src/trajectory_io.h → .../01_gravity_calibrate/src/trajectory_io.h
diff --git a/utils/06_gravity_compensate/Gravity.h → utils/02_gravity_compensate/Gravity.h b/utils/06_gravity_compensate/Gravity.h → utils/02_gravity_compensate/Gravity.h
diff --git a/utils/06_gravity_compensate/_Matrix.h → utils/02_gravity_compensate/_Matrix.h b/utils/06_gravity_compensate/_Matrix.h → utils/02_gravity_compensate/_Matrix.h
diff --git a/utils/06_gravity_compensate/async_writer.h → utils/02_gravity_compensate/async_writer.h b/utils/06_gravity_compensate/async_writer.h → utils/02_gravity_compensate/async_writer.h
diff --git a/...gravity_compensate/gravity_compensate.pro → ...gravity_compensate/gravity_compensate.pro b/...gravity_compensate/gravity_compensate.pro → ...gravity_compensate/gravity_compensate.pro
@@ -5,8 +5,9 @@ CONFIG -= qt
 TARGET = record
 QMAKE_CXXFLAGS += $$system(pkg-config --cflags eigen3)
 
-INCLUDEPATH += /usr/arcs/include
-LIBS += -L/usr/arcs/lib -laubo_driver -lpthread
+HOME_DIR = $$system(echo $HOME)
+INCLUDEPATH += $$HOME_DIR/.aubo/include
+LIBS += -L$$HOME_DIR/.aubo/lib -laubo_driver -lpthread -ldl
 LIBS += $$PWD/libGravity.so $$PWD/lib_Matrix.so
 
 INCLUDEPATH +=

diff --git a/utils/06_gravity_compensate/ideconfig.txt → utils/02_gravity_compensate/ideconfig.txt b/utils/06_gravity_compensate/ideconfig.txt → utils/02_gravity_compensate/ideconfig.txt
diff --git a/utils/06_gravity_compensate/libGravity.so → utils/02_gravity_compensate/libGravity.so b/utils/06_gravity_compensate/libGravity.so → utils/02_gravity_compensate/libGravity.so
diff --git a/utils/06_gravity_compensate/lib_Matrix.so → utils/02_gravity_compensate/lib_Matrix.so b/utils/06_gravity_compensate/lib_Matrix.so → utils/02_gravity_compensate/lib_Matrix.so
diff --git a/utils/06_gravity_compensate/main.cpp → utils/02_gravity_compensate/main.cpp b/utils/06_gravity_compensate/main.cpp → utils/02_gravity_compensate/main.cpp
diff --git a/...s/06_gravity_compensate/trajectory_io.cpp → ...s/02_gravity_compensate/trajectory_io.cpp b/...s/06_gravity_compensate/trajectory_io.cpp → ...s/02_gravity_compensate/trajectory_io.cpp
diff --git a/utils/06_gravity_compensate/trajectory_io.h → utils/02_gravity_compensate/trajectory_io.h b/utils/06_gravity_compensate/trajectory_io.h → utils/02_gravity_compensate/trajectory_io.h
diff --git a/utils/02_script_run/scriptrun.pro b/utils/02_script_run/scriptrun.pro
diff --git a/utils/07_offline_trajectory/async_writer.h → utils/03_offline_trajectory/async_writer.h b/utils/07_offline_trajectory/async_writer.h → utils/03_offline_trajectory/async_writer.h
diff --git a/utils/07_offline_trajectory/main.cpp → utils/03_offline_trajectory/main.cpp b/utils/07_offline_trajectory/main.cpp → utils/03_offline_trajectory/main.cpp
diff --git a/...offline_trajectory/offline_trajectory.pro → ...offline_trajectory/offline_trajectory.pro b/...offline_trajectory/offline_trajectory.pro → ...offline_trajectory/offline_trajectory.pro
@@ -4,10 +4,10 @@ CONFIG -= app_bundle
 CONFIG -= qt
 TARGET = play_traj
 
-INCLUDEPATH += /usr/arcs/include
-LIBS += -L/usr/arcs/lib -laubo_driver -lpthread
+HOME_DIR = $$system(echo $HOME)
+INCLUDEPATH += $$HOME_DIR/.aubo/include
+LIBS += -L$$HOME_DIR/.aubo/lib -laubo_driver -lpthread -ldl
 
-INCLUDEPATH +=
 SOURCES += \
     $$PWD/main.cpp \
     $$PWD/trajectory_io.cpp

diff --git a/...07_offline_trajectory/record/B_points.txt → ...03_offline_trajectory/record/B_points.txt b/...07_offline_trajectory/record/B_points.txt → ...03_offline_trajectory/record/B_points.txt
diff --git a/...ajectory/record/NURBS2020-12-22-09-55.txt → ...ajectory/record/NURBS2020-12-22-09-55.txt b/...ajectory/record/NURBS2020-12-22-09-55.txt → ...ajectory/record/NURBS2020-12-22-09-55.txt
diff --git a/utils/07_offline_trajectory/record/a.txt → utils/03_offline_trajectory/record/a.txt b/utils/07_offline_trajectory/record/a.txt → utils/03_offline_trajectory/record/a.txt
diff --git a/.../07_offline_trajectory/record/a_track.csv → .../03_offline_trajectory/record/a_track.csv b/.../07_offline_trajectory/record/a_track.csv → .../03_offline_trajectory/record/a_track.csv
diff --git a/...ctory/record/ameracan_sdk_tcp2canbus.offt → ...ctory/record/ameracan_sdk_tcp2canbus.offt b/...ctory/record/ameracan_sdk_tcp2canbus.offt → ...ctory/record/ameracan_sdk_tcp2canbus.offt
diff --git a/...tory/record/ameracan_sdk_tcp2canbus2.offt → ...tory/record/ameracan_sdk_tcp2canbus2.offt b/...tory/record/ameracan_sdk_tcp2canbus2.offt → ...tory/record/ameracan_sdk_tcp2canbus2.offt
diff --git a/utils/07_offline_trajectory/record/auto.txt → utils/03_offline_trajectory/record/auto.txt b/utils/07_offline_trajectory/record/auto.txt → utils/03_offline_trajectory/record/auto.txt
diff --git a/utils/07_offline_trajectory/record/b.csv → utils/03_offline_trajectory/record/b.csv b/utils/07_offline_trajectory/record/b.csv → utils/03_offline_trajectory/record/b.csv
diff --git a/utils/07_offline_trajectory/record/b.txt → utils/03_offline_trajectory/record/b.txt b/utils/07_offline_trajectory/record/b.txt → utils/03_offline_trajectory/record/b.txt
diff --git a/.../07_offline_trajectory/record/b_track.csv → .../03_offline_trajectory/record/b_track.csv b/.../07_offline_trajectory/record/b_track.csv → .../03_offline_trajectory/record/b_track.csv
diff --git a/...7_offline_trajectory/record/data1_zy.offt → ...3_offline_trajectory/record/data1_zy.offt b/...7_offline_trajectory/record/data1_zy.offt → ...3_offline_trajectory/record/data1_zy.offt
diff --git a/...7_offline_trajectory/record/data2_zy.offt → ...3_offline_trajectory/record/data2_zy.offt b/...7_offline_trajectory/record/data2_zy.offt → ...3_offline_trajectory/record/data2_zy.offt
diff --git a/...7_offline_trajectory/record/data4_zy.offt → ...3_offline_trajectory/record/data4_zy.offt b/...7_offline_trajectory/record/data4_zy.offt → ...3_offline_trajectory/record/data4_zy.offt
diff --git a/utils/07_offline_trajectory/record/pva.txt → utils/03_offline_trajectory/record/pva.txt b/utils/07_offline_trajectory/record/pva.txt → utils/03_offline_trajectory/record/pva.txt
diff --git a/utils/07_offline_trajectory/record/rec.offt → utils/03_offline_trajectory/record/rec.offt b/utils/07_offline_trajectory/record/rec.offt → utils/03_offline_trajectory/record/rec.offt
diff --git a/.../07_offline_trajectory/record/record.offt → .../03_offline_trajectory/record/record.offt b/.../07_offline_trajectory/record/record.offt → .../03_offline_trajectory/record/record.offt
diff --git a/...07_offline_trajectory/record/record1.offt → ...03_offline_trajectory/record/record1.offt b/...07_offline_trajectory/record/record1.offt → ...03_offline_trajectory/record/record1.offt
diff --git a/...07_offline_trajectory/record/record3.offt → ...03_offline_trajectory/record/record3.offt b/...07_offline_trajectory/record/record3.offt → ...03_offline_trajectory/record/record3.offt
diff --git a/...07_offline_trajectory/record/record4.offt → ...03_offline_trajectory/record/record4.offt b/...07_offline_trajectory/record/record4.offt → ...03_offline_trajectory/record/record4.offt
diff --git a/...07_offline_trajectory/record/record5.offt → ...03_offline_trajectory/record/record5.offt b/...07_offline_trajectory/record/record5.offt → ...03_offline_trajectory/record/record5.offt
diff --git a/...07_offline_trajectory/record/record6.offt → ...03_offline_trajectory/record/record6.offt b/...07_offline_trajectory/record/record6.offt → ...03_offline_trajectory/record/record6.offt
diff --git a/...ffline_trajectory/record/recordFinal.offt → ...ffline_trajectory/record/recordFinal.offt b/...ffline_trajectory/record/recordFinal.offt → ...ffline_trajectory/record/recordFinal.offt
diff --git a/...jectory/record/result2020-12-22-10-04.txt → ...jectory/record/result2020-12-22-10-04.txt b/...jectory/record/result2020-12-22-10-04.txt → ...jectory/record/result2020-12-22-10-04.txt
diff --git a/utils/07_offline_trajectory/record/track.csv → utils/03_offline_trajectory/record/track.csv b/utils/07_offline_trajectory/record/track.csv → utils/03_offline_trajectory/record/track.csv
diff --git a/...s/07_offline_trajectory/trajectory_io.cpp → ...s/03_offline_trajectory/trajectory_io.cpp b/...s/07_offline_trajectory/trajectory_io.cpp → ...s/03_offline_trajectory/trajectory_io.cpp
diff --git a/utils/07_offline_trajectory/trajectory_io.h → utils/03_offline_trajectory/trajectory_io.h b/utils/07_offline_trajectory/trajectory_io.h → utils/03_offline_trajectory/trajectory_io.h
diff --git a/utils/03_robot_math/robotmath.pro b/utils/03_robot_math/robotmath.pro
diff --git a/utils/08_realtime_data_record/async_writer.h → utils/04_realtime_data_record/async_writer.h b/utils/08_realtime_data_record/async_writer.h → utils/04_realtime_data_record/async_writer.h
diff --git a/utils/08_realtime_data_record/main.cpp → utils/04_realtime_data_record/main.cpp b/utils/08_realtime_data_record/main.cpp → utils/04_realtime_data_record/main.cpp
diff --git a/...time_data_record/realtime_data_record.pro → ...time_data_record/realtime_data_record.pro b/...time_data_record/realtime_data_record.pro → ...time_data_record/realtime_data_record.pro
@@ -4,8 +4,9 @@ CONFIG -= app_bundle
 CONFIG -= qt
 TARGET = record
 
-INCLUDEPATH += /usr/arcs/include
-LIBS += -L/usr/arcs/lib -laubo_driver -lpthread
+HOME_DIR = $$system(echo $HOME)
+INCLUDEPATH += $$HOME_DIR/.aubo/include
+LIBS += -L$$HOME_DIR/.aubo/lib -laubo_driver -lpthread -ldl
 
 INCLUDEPATH +=
 SOURCES += \

diff --git a/...08_realtime_data_record/trajectory_io.cpp → ...04_realtime_data_record/trajectory_io.cpp b/...08_realtime_data_record/trajectory_io.cpp → ...04_realtime_data_record/trajectory_io.cpp
diff --git a/...s/08_realtime_data_record/trajectory_io.h → ...s/04_realtime_data_record/trajectory_io.h b/...s/08_realtime_data_record/trajectory_io.h → ...s/04_realtime_data_record/trajectory_io.h
-Original file line number
+Diff line change
@@ Expand Up / @@ -6,10 +6,11 @@ @@
     *.a
     *.la
     *.lai
-    #*.so
+    *.so
     *.dll
     *.dylib
     # Qt-es
     object_script.*.Release
@@ Expand Down Expand Up / @@ -60,5 +61,8 @@ data_model_test @@
     feature_contribution_model_test
+    #file
+    *.zip