Maltab: S-function now uses the optimized library

diff --git a/src/mcl/matlab/Makefile b/src/mcl/matlab/Makefile
index fc3d6c94d7c1dbb0fbcd1e5376d72e1c6aabe8a8..341ce204852600e2863fc4b23be13401e644251f 100644 (file)
--- a/src/mcl/matlab/Makefile
+++ b/src/mcl/matlab/Makefile
@@ -1,5 +1,5 @@
 VPATH = ../../motion
-CXXFLAGS += -I$(VPATH) -I.. -I../../robomath -I../../laser-nav -I../../robodim/eb2008 -g
+CXXFLAGS += -I$(VPATH) -L$(PWD)/../../../build/linux/_compiled/lib -I$(PWD)/../../../build/linux/_compiled/include
 
 all: sf_posreg.mexglx sf_trgen.mexglx sf_mcl.mexglx
 
@@ -9,8 +9,8 @@ sf_posreg.mexglx:  sf_posreg.cc balet.cc
 sf_trgen.mexglx: sf_trgen.cc trgen.cc
        mex  $(CXXFLAGS) $^
 
-sf_mcl.mexglx: sf_mcl.c ../mcl.c ../../robomath/robomath.c ../../laser-nav/laser-nav.c
-       mex $(CXXFLAGS) $^
+sf_mcl.mexglx: sf_mcl.c
+       mex $(CXXFLAGS) $^ -lmcl -lrobomath
 
 
 clean:

diff --git a/src/robomath/robomath.h b/src/robomath/robomath.h
index 48043a7ad216b84b822f1e6bf9185e9a2dc738dc..f890cf66acfa2387b751d285245c61cb4c101d7a 100644 (file)
--- a/src/robomath/robomath.h
+++ b/src/robomath/robomath.h
@@ -24,14 +24,9 @@ struct angles_freq {
        int frequency;
 };
 
-/* FIXME: this definition cause strange compile errors of QT applications
- * where OpenGL is used. This is just a hack to be able to compile C++ apps. 
- * Need to be tested more. */
-#ifndef __cplusplus
-#ifdef __NO_INLINE__
+#ifdef MATLAB_MEX_FILE
 #define inline
 #endif
-#endif
 
 /**
  * FUNCTION PROTOTYPES