# Makefile for kalman filtering code # # J. Watlington, 11/7/95 # OBJS = matmath.o random.o TEST_OBJS = test.o kalman.o kalman_camera.o eval_camera.o mrqmin.o $(OBJS) LEV_OBJS = lev.o eval_camera.o mrqmin.o $(OBJS) MOTEST_OBJS = motest.o kalman.o kalman_motion.o $(OBJS) LIBS = -lm CCOPTS = -fp_reorder -std1 -warnprotos -fptm n -g # The -fptm sui and -g flags are both needed to avoid getting floating point # exceptions. # # Other Cool DEC Alpha compiler flags Default # -g - include symbol tables for dbx (OFF) # -g3 - include symbol tables for dbx (optimizer friendly) (OFF) # -trapuv - encourages traps caused by uninit'ed data (OFF) # -fp_reorder - allows reordering of floating point insts (OFF) # -std1 - enforce full ANSI compliance (OFF) # -fptm sui - handle fp traps in sftwe, requires -g flag too (OFF) # -fptm n - no floating point traps (OFF) # -ifo - interfile optimizations applied (OFF) # -ansi_alias - assumes that pts to data are same type (ON) # -O2 - optimize more than normal # -O3 - optimize as much as possible # -O4 - O3 but portable # -O5 - balls to the wall test: $(TEST_OBJS) cc ${CCOPTS} $(TEST_OBJS) -o test $(LIBS) lev: $(LEV_OBJS) cc ${CCOPTS} $(LEV_OBJS) -o lev $(LIBS) motest: $(MOTEST_OBJS) cc ${CCOPTS} $(MOTEST_OBJS) -o motest $(LIBS) all: motest test lev clean: /bin/rm -f *.o *~ camera test motest core ${TEST_OBJS}: Makefile test.h kalman.h matmath.h ${MOTEST_OBJS}: Makefile motest.h kalman.h matmath.h ${LEV_OBJS}: Makefile test.h matmath.h .c.o: cc -c $(CCOPTS) $(INCLUDES) -o $@ $<