From c322d8ab7654724ab2b113906b667ca30eb5a3cb Mon Sep 17 00:00:00 2001 From: zhaoyu Date: Wed, 24 Feb 2021 22:59:46 +0800 Subject: [PATCH] =?UTF-8?q?fix:=20=E6=9B=B4=E6=94=B9=E5=86=85=E5=AE=B9?= =?UTF-8?q?=E5=A6=82=E4=B8=8B=EF=BC=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 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 --- .gitignore | 6 +++- .../00_motion_by_aubocontrolbox/.gitignore | 0 .../00_motion_by_aubocontrolbox/main.cpp | 0 .../motion_by_aubocontrolbox.pro | 12 ++++++++ {utils => demo}/01_rtde/.gitignore | 0 {utils => demo}/01_rtde/main.cpp | 0 {utils => demo}/01_rtde/readme.md | 0 {utils => demo}/01_rtde/record/record3.offt | 0 {utils => demo}/01_rtde/rtde.pro | 6 ++-- {utils => demo}/01_rtde/trajectory_io.cpp | 0 {utils => demo}/01_rtde/trajectory_io.h | 0 {utils => demo}/02_script_run/.gitignore | 0 {utils => demo}/02_script_run/main.cpp | 0 demo/02_script_run/scriptrun.pro | 12 ++++++++ {utils => demo}/03_robot_math/main.cpp | 3 ++ demo/03_robot_math/robotmath.pro | 12 ++++++++ doc/auboserver_upgrade.md | 12 ++++---- release/aubo_driver/{unzip.sh => deploy.sh} | 28 +++++++++--------- utils/{04_Drag => 00_Drag}/Drag.cpp | 0 utils/{04_Drag => 00_Drag}/Drag.h | 0 utils/{04_Drag => 00_Drag}/Drag.pro | 5 ++-- utils/{04_Drag => 00_Drag}/Gravity.h | 0 utils/{04_Drag => 00_Drag}/Impendance.h | 0 utils/{04_Drag => 00_Drag}/_Matrix.h | 0 utils/{04_Drag => 00_Drag}/file.txt | 0 utils/{04_Drag => 00_Drag}/freedrive.cpp | 0 utils/{04_Drag => 00_Drag}/freedrive.h | 0 utils/{04_Drag => 00_Drag}/ideconfig.txt | 0 utils/{04_Drag => 00_Drag}/libGravity.so | Bin utils/{04_Drag => 00_Drag}/libImpendance.so | Bin utils/{04_Drag => 00_Drag}/lib_Matrix.so | Bin utils/{04_Drag => 00_Drag}/main.cpp | 0 .../motion_by_aubocontrolbox.pro | 10 ------- .../doc/ser.docx | Bin .../gravity_calibrate.pro | 0 .../lib/libGravity.so | Bin .../lib/libMathAlg.so | Bin .../lib/lib_Matrix.so | Bin .../readme.md | 0 .../src/Gravity.h | 0 .../src/MathAlg.h | 0 .../src/_Matrix.h | 0 .../src/async_writer.h | 0 .../src/main.cpp | 0 .../src/trajectory_io.cpp | 0 .../src/trajectory_io.h | 0 .../Gravity.h | 0 .../_Matrix.h | 0 .../async_writer.h | 0 .../gravity_compensate.pro | 5 ++-- .../ideconfig.txt | 0 .../libGravity.so | Bin .../lib_Matrix.so | Bin .../main.cpp | 0 .../trajectory_io.cpp | 0 .../trajectory_io.h | 0 utils/02_script_run/scriptrun.pro | 10 ------- .../async_writer.h | 0 .../main.cpp | 0 .../offline_trajectory.pro | 6 ++-- .../record/B_points.txt | 0 .../record/NURBS2020-12-22-09-55.txt | 0 .../record/a.txt | 0 .../record/a_track.csv | 0 .../record/ameracan_sdk_tcp2canbus.offt | 0 .../record/ameracan_sdk_tcp2canbus2.offt | 0 .../record/auto.txt | 0 .../record/b.csv | 0 .../record/b.txt | 0 .../record/b_track.csv | 0 .../record/data1_zy.offt | 0 .../record/data2_zy.offt | 0 .../record/data4_zy.offt | 0 .../record/pva.txt | 0 .../record/rec.offt | 0 .../record/record.offt | 0 .../record/record1.offt | 0 .../record/record3.offt | 0 .../record/record4.offt | 0 .../record/record5.offt | 0 .../record/record6.offt | 0 .../record/recordFinal.offt | 0 .../record/result2020-12-22-10-04.txt | 0 .../record/track.csv | 0 .../trajectory_io.cpp | 0 .../trajectory_io.h | 0 utils/03_robot_math/robotmath.pro | 11 ------- .../async_writer.h | 0 .../main.cpp | 0 .../realtime_data_record.pro | 5 ++-- .../trajectory_io.cpp | 0 .../trajectory_io.h | 0 92 files changed, 80 insertions(+), 63 deletions(-) rename {utils => demo}/00_motion_by_aubocontrolbox/.gitignore (100%) rename {utils => demo}/00_motion_by_aubocontrolbox/main.cpp (100%) create mode 100644 demo/00_motion_by_aubocontrolbox/motion_by_aubocontrolbox.pro rename {utils => demo}/01_rtde/.gitignore (100%) rename {utils => demo}/01_rtde/main.cpp (100%) rename {utils => demo}/01_rtde/readme.md (100%) rename {utils => demo}/01_rtde/record/record3.offt (100%) rename {utils => demo}/01_rtde/rtde.pro (52%) rename {utils => demo}/01_rtde/trajectory_io.cpp (100%) rename {utils => demo}/01_rtde/trajectory_io.h (100%) rename {utils => demo}/02_script_run/.gitignore (100%) rename {utils => demo}/02_script_run/main.cpp (100%) create mode 100644 demo/02_script_run/scriptrun.pro rename {utils => demo}/03_robot_math/main.cpp (99%) create mode 100644 demo/03_robot_math/robotmath.pro rename release/aubo_driver/{unzip.sh => deploy.sh} (61%) rename utils/{04_Drag => 00_Drag}/Drag.cpp (100%) rename utils/{04_Drag => 00_Drag}/Drag.h (100%) rename utils/{04_Drag => 00_Drag}/Drag.pro (72%) rename utils/{04_Drag => 00_Drag}/Gravity.h (100%) rename utils/{04_Drag => 00_Drag}/Impendance.h (100%) rename utils/{04_Drag => 00_Drag}/_Matrix.h (100%) rename utils/{04_Drag => 00_Drag}/file.txt (100%) rename utils/{04_Drag => 00_Drag}/freedrive.cpp (100%) rename utils/{04_Drag => 00_Drag}/freedrive.h (100%) rename utils/{04_Drag => 00_Drag}/ideconfig.txt (100%) rename utils/{04_Drag => 00_Drag}/libGravity.so (100%) rename utils/{04_Drag => 00_Drag}/libImpendance.so (100%) rename utils/{04_Drag => 00_Drag}/lib_Matrix.so (100%) rename utils/{04_Drag => 00_Drag}/main.cpp (100%) delete mode 100644 utils/00_motion_by_aubocontrolbox/motion_by_aubocontrolbox.pro rename utils/{05_gravity_calibrate => 01_gravity_calibrate}/doc/ser.docx (100%) rename utils/{05_gravity_calibrate => 01_gravity_calibrate}/gravity_calibrate.pro (100%) rename utils/{05_gravity_calibrate => 01_gravity_calibrate}/lib/libGravity.so (100%) rename utils/{05_gravity_calibrate => 01_gravity_calibrate}/lib/libMathAlg.so (100%) rename utils/{05_gravity_calibrate => 01_gravity_calibrate}/lib/lib_Matrix.so (100%) rename utils/{05_gravity_calibrate => 01_gravity_calibrate}/readme.md (100%) rename utils/{05_gravity_calibrate => 01_gravity_calibrate}/src/Gravity.h (100%) rename utils/{05_gravity_calibrate => 01_gravity_calibrate}/src/MathAlg.h (100%) rename utils/{05_gravity_calibrate => 01_gravity_calibrate}/src/_Matrix.h (100%) rename utils/{05_gravity_calibrate => 01_gravity_calibrate}/src/async_writer.h (100%) rename utils/{05_gravity_calibrate => 01_gravity_calibrate}/src/main.cpp (100%) rename utils/{05_gravity_calibrate => 01_gravity_calibrate}/src/trajectory_io.cpp (100%) rename utils/{05_gravity_calibrate => 01_gravity_calibrate}/src/trajectory_io.h (100%) rename utils/{06_gravity_compensate => 02_gravity_compensate}/Gravity.h (100%) rename utils/{06_gravity_compensate => 02_gravity_compensate}/_Matrix.h (100%) rename utils/{06_gravity_compensate => 02_gravity_compensate}/async_writer.h (100%) rename utils/{06_gravity_compensate => 02_gravity_compensate}/gravity_compensate.pro (70%) rename utils/{06_gravity_compensate => 02_gravity_compensate}/ideconfig.txt (100%) rename utils/{06_gravity_compensate => 02_gravity_compensate}/libGravity.so (100%) rename utils/{06_gravity_compensate => 02_gravity_compensate}/lib_Matrix.so (100%) rename utils/{06_gravity_compensate => 02_gravity_compensate}/main.cpp (100%) rename utils/{06_gravity_compensate => 02_gravity_compensate}/trajectory_io.cpp (100%) rename utils/{06_gravity_compensate => 02_gravity_compensate}/trajectory_io.h (100%) delete mode 100644 utils/02_script_run/scriptrun.pro rename utils/{07_offline_trajectory => 03_offline_trajectory}/async_writer.h (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/main.cpp (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/offline_trajectory.pro (59%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/B_points.txt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/NURBS2020-12-22-09-55.txt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/a.txt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/a_track.csv (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/ameracan_sdk_tcp2canbus.offt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/ameracan_sdk_tcp2canbus2.offt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/auto.txt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/b.csv (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/b.txt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/b_track.csv (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/data1_zy.offt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/data2_zy.offt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/data4_zy.offt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/pva.txt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/rec.offt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/record.offt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/record1.offt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/record3.offt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/record4.offt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/record5.offt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/record6.offt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/recordFinal.offt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/result2020-12-22-10-04.txt (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/record/track.csv (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/trajectory_io.cpp (100%) rename utils/{07_offline_trajectory => 03_offline_trajectory}/trajectory_io.h (100%) delete mode 100644 utils/03_robot_math/robotmath.pro rename utils/{08_realtime_data_record => 04_realtime_data_record}/async_writer.h (100%) rename utils/{08_realtime_data_record => 04_realtime_data_record}/main.cpp (100%) rename utils/{08_realtime_data_record => 04_realtime_data_record}/realtime_data_record.pro (61%) rename utils/{08_realtime_data_record => 04_realtime_data_record}/trajectory_io.cpp (100%) rename utils/{08_realtime_data_record => 04_realtime_data_record}/trajectory_io.h (100%) diff --git a/.gitignore b/.gitignore index 066b92e..ab171cf 100644 --- 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 b/demo/00_motion_by_aubocontrolbox/.gitignore similarity index 100% rename from utils/00_motion_by_aubocontrolbox/.gitignore rename to demo/00_motion_by_aubocontrolbox/.gitignore diff --git a/utils/00_motion_by_aubocontrolbox/main.cpp b/demo/00_motion_by_aubocontrolbox/main.cpp similarity index 100% rename from utils/00_motion_by_aubocontrolbox/main.cpp rename to 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 new file mode 100644 index 0000000..f9a5ec6 --- /dev/null +++ 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$$HOME_DIR/.aubo/lib -laubo_driver -lpthread -ldl + +SOURCES += \ + main.cpp diff --git a/utils/01_rtde/.gitignore b/demo/01_rtde/.gitignore similarity index 100% rename from utils/01_rtde/.gitignore rename to demo/01_rtde/.gitignore diff --git a/utils/01_rtde/main.cpp b/demo/01_rtde/main.cpp similarity index 100% rename from utils/01_rtde/main.cpp rename to demo/01_rtde/main.cpp diff --git a/utils/01_rtde/readme.md b/demo/01_rtde/readme.md similarity index 100% rename from utils/01_rtde/readme.md rename to demo/01_rtde/readme.md diff --git a/utils/01_rtde/record/record3.offt b/demo/01_rtde/record/record3.offt similarity index 100% rename from utils/01_rtde/record/record3.offt rename to demo/01_rtde/record/record3.offt diff --git a/utils/01_rtde/rtde.pro b/demo/01_rtde/rtde.pro similarity index 52% rename from utils/01_rtde/rtde.pro rename to demo/01_rtde/rtde.pro index 8049aa0..2e36232 100644 --- a/utils/01_rtde/rtde.pro +++ b/demo/01_rtde/rtde.pro @@ -3,8 +3,10 @@ CONFIG += console c++11 CONFIG -= app_bundle CONFIG -= qt -INCLUDEPATH += /usr/arcs/include -LIBS += -L/usr/arcs/lib -laubo_driver -lpthread -ldl +HOME_DIR = $$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 b/demo/01_rtde/trajectory_io.cpp similarity index 100% rename from utils/01_rtde/trajectory_io.cpp rename to demo/01_rtde/trajectory_io.cpp diff --git a/utils/01_rtde/trajectory_io.h b/demo/01_rtde/trajectory_io.h similarity index 100% rename from utils/01_rtde/trajectory_io.h rename to demo/01_rtde/trajectory_io.h diff --git a/utils/02_script_run/.gitignore b/demo/02_script_run/.gitignore similarity index 100% rename from utils/02_script_run/.gitignore rename to demo/02_script_run/.gitignore diff --git a/utils/02_script_run/main.cpp b/demo/02_script_run/main.cpp similarity index 100% rename from utils/02_script_run/main.cpp rename to demo/02_script_run/main.cpp diff --git a/demo/02_script_run/scriptrun.pro b/demo/02_script_run/scriptrun.pro new file mode 100644 index 0000000..f9a5ec6 --- /dev/null +++ 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$$HOME_DIR/.aubo/lib -laubo_driver -lpthread -ldl + +SOURCES += \ + main.cpp diff --git a/utils/03_robot_math/main.cpp b/demo/03_robot_math/main.cpp similarity index 99% rename from utils/03_robot_math/main.cpp rename to demo/03_robot_math/main.cpp index d6dfe13..0f4f237 100644 --- a/utils/03_robot_math/main.cpp +++ b/demo/03_robot_math/main.cpp @@ -2,7 +2,10 @@ #include #include +#ifndef M_PI #define M_PI 3.14159265358979323846 /* pi */ +#endif + using namespace arcs::aubo_driver; int main(int argc, char *argv[]) diff --git a/demo/03_robot_math/robotmath.pro b/demo/03_robot_math/robotmath.pro new file mode 100644 index 0000000..f9a5ec6 --- /dev/null +++ b/demo/03_robot_math/robotmath.pro @@ -0,0 +1,12 @@ +TEMPLATE = app +CONFIG += console c++11 +CONFIG -= app_bundle +CONFIG -= qt + +HOME_DIR = $$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 index 08d3a14..3e6bf4f 100644 --- 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 b/release/aubo_driver/deploy.sh similarity index 61% rename from release/aubo_driver/unzip.sh rename to release/aubo_driver/deploy.sh index fa9a8bd..f78c34c 100755 --- a/release/aubo_driver/unzip.sh +++ b/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 b/utils/00_Drag/Drag.cpp similarity index 100% rename from utils/04_Drag/Drag.cpp rename to utils/00_Drag/Drag.cpp diff --git a/utils/04_Drag/Drag.h b/utils/00_Drag/Drag.h similarity index 100% rename from utils/04_Drag/Drag.h rename to utils/00_Drag/Drag.h diff --git a/utils/04_Drag/Drag.pro b/utils/00_Drag/Drag.pro similarity index 72% rename from utils/04_Drag/Drag.pro rename to utils/00_Drag/Drag.pro index 05bc3b0..acad4cc 100644 --- a/utils/04_Drag/Drag.pro +++ b/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 b/utils/00_Drag/Gravity.h similarity index 100% rename from utils/04_Drag/Gravity.h rename to utils/00_Drag/Gravity.h diff --git a/utils/04_Drag/Impendance.h b/utils/00_Drag/Impendance.h similarity index 100% rename from utils/04_Drag/Impendance.h rename to utils/00_Drag/Impendance.h diff --git a/utils/04_Drag/_Matrix.h b/utils/00_Drag/_Matrix.h similarity index 100% rename from utils/04_Drag/_Matrix.h rename to utils/00_Drag/_Matrix.h diff --git a/utils/04_Drag/file.txt b/utils/00_Drag/file.txt similarity index 100% rename from utils/04_Drag/file.txt rename to utils/00_Drag/file.txt diff --git a/utils/04_Drag/freedrive.cpp b/utils/00_Drag/freedrive.cpp similarity index 100% rename from utils/04_Drag/freedrive.cpp rename to utils/00_Drag/freedrive.cpp diff --git a/utils/04_Drag/freedrive.h b/utils/00_Drag/freedrive.h similarity index 100% rename from utils/04_Drag/freedrive.h rename to utils/00_Drag/freedrive.h diff --git a/utils/04_Drag/ideconfig.txt b/utils/00_Drag/ideconfig.txt similarity index 100% rename from utils/04_Drag/ideconfig.txt rename to utils/00_Drag/ideconfig.txt diff --git a/utils/04_Drag/libGravity.so b/utils/00_Drag/libGravity.so similarity index 100% rename from utils/04_Drag/libGravity.so rename to utils/00_Drag/libGravity.so diff --git a/utils/04_Drag/libImpendance.so b/utils/00_Drag/libImpendance.so similarity index 100% rename from utils/04_Drag/libImpendance.so rename to utils/00_Drag/libImpendance.so diff --git a/utils/04_Drag/lib_Matrix.so b/utils/00_Drag/lib_Matrix.so similarity index 100% rename from utils/04_Drag/lib_Matrix.so rename to utils/00_Drag/lib_Matrix.so diff --git a/utils/04_Drag/main.cpp b/utils/00_Drag/main.cpp similarity index 100% rename from utils/04_Drag/main.cpp rename to 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 deleted file mode 100644 index c9809cc..0000000 --- a/utils/00_motion_by_aubocontrolbox/motion_by_aubocontrolbox.pro +++ /dev/null @@ -1,10 +0,0 @@ -TEMPLATE = app -CONFIG += console c++11 -CONFIG -= app_bundle -CONFIG -= qt - -INCLUDEPATH += /usr/arcs/include -LIBS += -L/usr/arcs/lib -laubo_driver -lpthread -ldl - -SOURCES += \ - main.cpp diff --git a/utils/05_gravity_calibrate/doc/ser.docx b/utils/01_gravity_calibrate/doc/ser.docx similarity index 100% rename from utils/05_gravity_calibrate/doc/ser.docx rename to utils/01_gravity_calibrate/doc/ser.docx diff --git a/utils/05_gravity_calibrate/gravity_calibrate.pro b/utils/01_gravity_calibrate/gravity_calibrate.pro similarity index 100% rename from utils/05_gravity_calibrate/gravity_calibrate.pro rename to utils/01_gravity_calibrate/gravity_calibrate.pro diff --git a/utils/05_gravity_calibrate/lib/libGravity.so b/utils/01_gravity_calibrate/lib/libGravity.so similarity index 100% rename from utils/05_gravity_calibrate/lib/libGravity.so rename to utils/01_gravity_calibrate/lib/libGravity.so diff --git a/utils/05_gravity_calibrate/lib/libMathAlg.so b/utils/01_gravity_calibrate/lib/libMathAlg.so similarity index 100% rename from utils/05_gravity_calibrate/lib/libMathAlg.so rename to utils/01_gravity_calibrate/lib/libMathAlg.so diff --git a/utils/05_gravity_calibrate/lib/lib_Matrix.so b/utils/01_gravity_calibrate/lib/lib_Matrix.so similarity index 100% rename from utils/05_gravity_calibrate/lib/lib_Matrix.so rename to utils/01_gravity_calibrate/lib/lib_Matrix.so diff --git a/utils/05_gravity_calibrate/readme.md b/utils/01_gravity_calibrate/readme.md similarity index 100% rename from utils/05_gravity_calibrate/readme.md rename to utils/01_gravity_calibrate/readme.md diff --git a/utils/05_gravity_calibrate/src/Gravity.h b/utils/01_gravity_calibrate/src/Gravity.h similarity index 100% rename from utils/05_gravity_calibrate/src/Gravity.h rename to utils/01_gravity_calibrate/src/Gravity.h diff --git a/utils/05_gravity_calibrate/src/MathAlg.h b/utils/01_gravity_calibrate/src/MathAlg.h similarity index 100% rename from utils/05_gravity_calibrate/src/MathAlg.h rename to utils/01_gravity_calibrate/src/MathAlg.h diff --git a/utils/05_gravity_calibrate/src/_Matrix.h b/utils/01_gravity_calibrate/src/_Matrix.h similarity index 100% rename from utils/05_gravity_calibrate/src/_Matrix.h rename to utils/01_gravity_calibrate/src/_Matrix.h diff --git a/utils/05_gravity_calibrate/src/async_writer.h b/utils/01_gravity_calibrate/src/async_writer.h similarity index 100% rename from utils/05_gravity_calibrate/src/async_writer.h rename to utils/01_gravity_calibrate/src/async_writer.h diff --git a/utils/05_gravity_calibrate/src/main.cpp b/utils/01_gravity_calibrate/src/main.cpp similarity index 100% rename from utils/05_gravity_calibrate/src/main.cpp rename to utils/01_gravity_calibrate/src/main.cpp diff --git a/utils/05_gravity_calibrate/src/trajectory_io.cpp b/utils/01_gravity_calibrate/src/trajectory_io.cpp similarity index 100% rename from utils/05_gravity_calibrate/src/trajectory_io.cpp rename to utils/01_gravity_calibrate/src/trajectory_io.cpp diff --git a/utils/05_gravity_calibrate/src/trajectory_io.h b/utils/01_gravity_calibrate/src/trajectory_io.h similarity index 100% rename from utils/05_gravity_calibrate/src/trajectory_io.h rename to utils/01_gravity_calibrate/src/trajectory_io.h diff --git a/utils/06_gravity_compensate/Gravity.h b/utils/02_gravity_compensate/Gravity.h similarity index 100% rename from utils/06_gravity_compensate/Gravity.h rename to utils/02_gravity_compensate/Gravity.h diff --git a/utils/06_gravity_compensate/_Matrix.h b/utils/02_gravity_compensate/_Matrix.h similarity index 100% rename from utils/06_gravity_compensate/_Matrix.h rename to utils/02_gravity_compensate/_Matrix.h diff --git a/utils/06_gravity_compensate/async_writer.h b/utils/02_gravity_compensate/async_writer.h similarity index 100% rename from utils/06_gravity_compensate/async_writer.h rename to utils/02_gravity_compensate/async_writer.h diff --git a/utils/06_gravity_compensate/gravity_compensate.pro b/utils/02_gravity_compensate/gravity_compensate.pro similarity index 70% rename from utils/06_gravity_compensate/gravity_compensate.pro rename to utils/02_gravity_compensate/gravity_compensate.pro index 76ee279..9ccaa6c 100644 --- a/utils/06_gravity_compensate/gravity_compensate.pro +++ b/utils/02_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 b/utils/02_gravity_compensate/ideconfig.txt similarity index 100% rename from utils/06_gravity_compensate/ideconfig.txt rename to utils/02_gravity_compensate/ideconfig.txt diff --git a/utils/06_gravity_compensate/libGravity.so b/utils/02_gravity_compensate/libGravity.so similarity index 100% rename from utils/06_gravity_compensate/libGravity.so rename to utils/02_gravity_compensate/libGravity.so diff --git a/utils/06_gravity_compensate/lib_Matrix.so b/utils/02_gravity_compensate/lib_Matrix.so similarity index 100% rename from utils/06_gravity_compensate/lib_Matrix.so rename to utils/02_gravity_compensate/lib_Matrix.so diff --git a/utils/06_gravity_compensate/main.cpp b/utils/02_gravity_compensate/main.cpp similarity index 100% rename from utils/06_gravity_compensate/main.cpp rename to utils/02_gravity_compensate/main.cpp diff --git a/utils/06_gravity_compensate/trajectory_io.cpp b/utils/02_gravity_compensate/trajectory_io.cpp similarity index 100% rename from utils/06_gravity_compensate/trajectory_io.cpp rename to utils/02_gravity_compensate/trajectory_io.cpp diff --git a/utils/06_gravity_compensate/trajectory_io.h b/utils/02_gravity_compensate/trajectory_io.h similarity index 100% rename from utils/06_gravity_compensate/trajectory_io.h rename to utils/02_gravity_compensate/trajectory_io.h diff --git a/utils/02_script_run/scriptrun.pro b/utils/02_script_run/scriptrun.pro deleted file mode 100644 index c9809cc..0000000 --- a/utils/02_script_run/scriptrun.pro +++ /dev/null @@ -1,10 +0,0 @@ -TEMPLATE = app -CONFIG += console c++11 -CONFIG -= app_bundle -CONFIG -= qt - -INCLUDEPATH += /usr/arcs/include -LIBS += -L/usr/arcs/lib -laubo_driver -lpthread -ldl - -SOURCES += \ - main.cpp diff --git a/utils/07_offline_trajectory/async_writer.h b/utils/03_offline_trajectory/async_writer.h similarity index 100% rename from utils/07_offline_trajectory/async_writer.h rename to utils/03_offline_trajectory/async_writer.h diff --git a/utils/07_offline_trajectory/main.cpp b/utils/03_offline_trajectory/main.cpp similarity index 100% rename from utils/07_offline_trajectory/main.cpp rename to utils/03_offline_trajectory/main.cpp diff --git a/utils/07_offline_trajectory/offline_trajectory.pro b/utils/03_offline_trajectory/offline_trajectory.pro similarity index 59% rename from utils/07_offline_trajectory/offline_trajectory.pro rename to utils/03_offline_trajectory/offline_trajectory.pro index 19a6bb9..4a0d4f0 100644 --- a/utils/07_offline_trajectory/offline_trajectory.pro +++ b/utils/03_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/utils/07_offline_trajectory/record/B_points.txt b/utils/03_offline_trajectory/record/B_points.txt similarity index 100% rename from utils/07_offline_trajectory/record/B_points.txt rename to utils/03_offline_trajectory/record/B_points.txt diff --git a/utils/07_offline_trajectory/record/NURBS2020-12-22-09-55.txt b/utils/03_offline_trajectory/record/NURBS2020-12-22-09-55.txt similarity index 100% rename from utils/07_offline_trajectory/record/NURBS2020-12-22-09-55.txt rename to utils/03_offline_trajectory/record/NURBS2020-12-22-09-55.txt diff --git a/utils/07_offline_trajectory/record/a.txt b/utils/03_offline_trajectory/record/a.txt similarity index 100% rename from utils/07_offline_trajectory/record/a.txt rename to utils/03_offline_trajectory/record/a.txt diff --git a/utils/07_offline_trajectory/record/a_track.csv b/utils/03_offline_trajectory/record/a_track.csv similarity index 100% rename from utils/07_offline_trajectory/record/a_track.csv rename to utils/03_offline_trajectory/record/a_track.csv diff --git a/utils/07_offline_trajectory/record/ameracan_sdk_tcp2canbus.offt b/utils/03_offline_trajectory/record/ameracan_sdk_tcp2canbus.offt similarity index 100% rename from utils/07_offline_trajectory/record/ameracan_sdk_tcp2canbus.offt rename to utils/03_offline_trajectory/record/ameracan_sdk_tcp2canbus.offt diff --git a/utils/07_offline_trajectory/record/ameracan_sdk_tcp2canbus2.offt b/utils/03_offline_trajectory/record/ameracan_sdk_tcp2canbus2.offt similarity index 100% rename from utils/07_offline_trajectory/record/ameracan_sdk_tcp2canbus2.offt rename to utils/03_offline_trajectory/record/ameracan_sdk_tcp2canbus2.offt diff --git a/utils/07_offline_trajectory/record/auto.txt b/utils/03_offline_trajectory/record/auto.txt similarity index 100% rename from utils/07_offline_trajectory/record/auto.txt rename to utils/03_offline_trajectory/record/auto.txt diff --git a/utils/07_offline_trajectory/record/b.csv b/utils/03_offline_trajectory/record/b.csv similarity index 100% rename from utils/07_offline_trajectory/record/b.csv rename to utils/03_offline_trajectory/record/b.csv diff --git a/utils/07_offline_trajectory/record/b.txt b/utils/03_offline_trajectory/record/b.txt similarity index 100% rename from utils/07_offline_trajectory/record/b.txt rename to utils/03_offline_trajectory/record/b.txt diff --git a/utils/07_offline_trajectory/record/b_track.csv b/utils/03_offline_trajectory/record/b_track.csv similarity index 100% rename from utils/07_offline_trajectory/record/b_track.csv rename to utils/03_offline_trajectory/record/b_track.csv diff --git a/utils/07_offline_trajectory/record/data1_zy.offt b/utils/03_offline_trajectory/record/data1_zy.offt similarity index 100% rename from utils/07_offline_trajectory/record/data1_zy.offt rename to utils/03_offline_trajectory/record/data1_zy.offt diff --git a/utils/07_offline_trajectory/record/data2_zy.offt b/utils/03_offline_trajectory/record/data2_zy.offt similarity index 100% rename from utils/07_offline_trajectory/record/data2_zy.offt rename to utils/03_offline_trajectory/record/data2_zy.offt diff --git a/utils/07_offline_trajectory/record/data4_zy.offt b/utils/03_offline_trajectory/record/data4_zy.offt similarity index 100% rename from utils/07_offline_trajectory/record/data4_zy.offt rename to utils/03_offline_trajectory/record/data4_zy.offt diff --git a/utils/07_offline_trajectory/record/pva.txt b/utils/03_offline_trajectory/record/pva.txt similarity index 100% rename from utils/07_offline_trajectory/record/pva.txt rename to utils/03_offline_trajectory/record/pva.txt diff --git a/utils/07_offline_trajectory/record/rec.offt b/utils/03_offline_trajectory/record/rec.offt similarity index 100% rename from utils/07_offline_trajectory/record/rec.offt rename to utils/03_offline_trajectory/record/rec.offt diff --git a/utils/07_offline_trajectory/record/record.offt b/utils/03_offline_trajectory/record/record.offt similarity index 100% rename from utils/07_offline_trajectory/record/record.offt rename to utils/03_offline_trajectory/record/record.offt diff --git a/utils/07_offline_trajectory/record/record1.offt b/utils/03_offline_trajectory/record/record1.offt similarity index 100% rename from utils/07_offline_trajectory/record/record1.offt rename to utils/03_offline_trajectory/record/record1.offt diff --git a/utils/07_offline_trajectory/record/record3.offt b/utils/03_offline_trajectory/record/record3.offt similarity index 100% rename from utils/07_offline_trajectory/record/record3.offt rename to utils/03_offline_trajectory/record/record3.offt diff --git a/utils/07_offline_trajectory/record/record4.offt b/utils/03_offline_trajectory/record/record4.offt similarity index 100% rename from utils/07_offline_trajectory/record/record4.offt rename to utils/03_offline_trajectory/record/record4.offt diff --git a/utils/07_offline_trajectory/record/record5.offt b/utils/03_offline_trajectory/record/record5.offt similarity index 100% rename from utils/07_offline_trajectory/record/record5.offt rename to utils/03_offline_trajectory/record/record5.offt diff --git a/utils/07_offline_trajectory/record/record6.offt b/utils/03_offline_trajectory/record/record6.offt similarity index 100% rename from utils/07_offline_trajectory/record/record6.offt rename to utils/03_offline_trajectory/record/record6.offt diff --git a/utils/07_offline_trajectory/record/recordFinal.offt b/utils/03_offline_trajectory/record/recordFinal.offt similarity index 100% rename from utils/07_offline_trajectory/record/recordFinal.offt rename to utils/03_offline_trajectory/record/recordFinal.offt diff --git a/utils/07_offline_trajectory/record/result2020-12-22-10-04.txt b/utils/03_offline_trajectory/record/result2020-12-22-10-04.txt similarity index 100% rename from utils/07_offline_trajectory/record/result2020-12-22-10-04.txt rename to utils/03_offline_trajectory/record/result2020-12-22-10-04.txt diff --git a/utils/07_offline_trajectory/record/track.csv b/utils/03_offline_trajectory/record/track.csv similarity index 100% rename from utils/07_offline_trajectory/record/track.csv rename to utils/03_offline_trajectory/record/track.csv diff --git a/utils/07_offline_trajectory/trajectory_io.cpp b/utils/03_offline_trajectory/trajectory_io.cpp similarity index 100% rename from utils/07_offline_trajectory/trajectory_io.cpp rename to utils/03_offline_trajectory/trajectory_io.cpp diff --git a/utils/07_offline_trajectory/trajectory_io.h b/utils/03_offline_trajectory/trajectory_io.h similarity index 100% rename from utils/07_offline_trajectory/trajectory_io.h rename to utils/03_offline_trajectory/trajectory_io.h diff --git a/utils/03_robot_math/robotmath.pro b/utils/03_robot_math/robotmath.pro deleted file mode 100644 index a685c9c..0000000 --- a/utils/03_robot_math/robotmath.pro +++ /dev/null @@ -1,11 +0,0 @@ -TEMPLATE = app -CONFIG += console c++11 -CONFIG -= app_bundle -CONFIG -= qt - -INCLUDEPATH += /usr/arcs/include - -LIBS += -L/usr/arcs/lib -laubo_driver -lpthread -ldl - -SOURCES += \ - main.cpp diff --git a/utils/08_realtime_data_record/async_writer.h b/utils/04_realtime_data_record/async_writer.h similarity index 100% rename from utils/08_realtime_data_record/async_writer.h rename to utils/04_realtime_data_record/async_writer.h diff --git a/utils/08_realtime_data_record/main.cpp b/utils/04_realtime_data_record/main.cpp similarity index 100% rename from utils/08_realtime_data_record/main.cpp rename to utils/04_realtime_data_record/main.cpp diff --git a/utils/08_realtime_data_record/realtime_data_record.pro b/utils/04_realtime_data_record/realtime_data_record.pro similarity index 61% rename from utils/08_realtime_data_record/realtime_data_record.pro rename to utils/04_realtime_data_record/realtime_data_record.pro index f33d302..f4764d5 100644 --- a/utils/08_realtime_data_record/realtime_data_record.pro +++ b/utils/04_realtime_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/utils/08_realtime_data_record/trajectory_io.cpp b/utils/04_realtime_data_record/trajectory_io.cpp similarity index 100% rename from utils/08_realtime_data_record/trajectory_io.cpp rename to utils/04_realtime_data_record/trajectory_io.cpp diff --git a/utils/08_realtime_data_record/trajectory_io.h b/utils/04_realtime_data_record/trajectory_io.h similarity index 100% rename from utils/08_realtime_data_record/trajectory_io.h rename to utils/04_realtime_data_record/trajectory_io.h