matlab motion: Compilation fixes

diff --git a/src/mcl/matlab/Makefile b/src/mcl/matlab/Makefile
index 57264800f98c89a73c70772799005ce4890a043a..7e28ec381c0ba90f1b23497e5d341c8c13579dbe 100644 (file)
--- a/src/mcl/matlab/Makefile
+++ b/src/mcl/matlab/Makefile
@@ -8,7 +8,7 @@ all: sf_posreg.mexglx sf_trgen.mexglx sf_mcl.mexglx
 sf_posreg.mexglx:  sf_posreg.cc balet.cc
        mex $(CXXFLAGS) $^
 
-sf_trgen.mexglx: sf_trgen.cc trajectory.cc arc.cc line.cc spline.cc turn.cc
+sf_trgen.mexglx: sf_trgen.cc trajectory.cc line.cc spline.cc turn.cc
        mex  $(CXXFLAGS) $^
 
 

diff --git a/src/motion/spline.cc b/src/motion/spline.cc
index 6714da036401531464b9eca67bb9732fe5ffb723..b08dbf9f566516b84b3630f2d8678c03c3e5e656 100644 (file)
--- a/src/motion/spline.cc
+++ b/src/motion/spline.cc
@@ -131,7 +131,7 @@ namespace Segment {
         // dCurvature/dDistance = maxCurvature / (length/2) = 2 / (minRadius*length)
 
         vc = fmin(vc, sqrt( constr.maxangacc * (length/2.0*minr) ));
-
+       dbgPrintf("segment %p: vc0=%g\n", this, vc);
 
 #ifdef MATLAB_MEX_FILE
         char str [200];
@@ -228,6 +228,7 @@ namespace Segment {
         }
         printf("MAX %lf, v1 %lf vc %lf v2 %lf acc %lf len %lf ang %lf\n", kkk, v1, vc, v2, acc, length, omega*180/M_PI);
 */            
+       dbgPrintf("segment %p: vc1=%g\n", this, vc);
         acc = (v2-vc)*(v2+vc)/length;
             // acceleration needed
         acc = fmin(acc, constr.maxacc);

diff --git a/src/motion/trgendbg.h b/src/motion/trgendbg.h
index b94b05cb94c217491149626d94c8a9fff117aff7..a516681abd07f0bbc5220dcb500fd23e5e07fa54 100644 (file)
--- a/src/motion/trgendbg.h
+++ b/src/motion/trgendbg.h
@@ -1,7 +1,13 @@
 #ifndef TRGENDBG_H
 #define TRGENDBG_H
 
-// #define DEBUG
+//#define DEBUG
+
+#ifdef MATLAB_MEX_FILE
+#include "simstruc.h"
+#endif
+
+
 
 #ifdef DEBUG
   #ifdef MATLAB_MEX_FILE