emcc `
    src/KinematicsWebAPI.cpp `
    src/main.cpp `
    src/Robot.cpp `
    src/spc_core.cpp `
    src/QuadrupedRobotSimulation/RobotConfig.cpp `
    src/QuadrupedRobotSimulation/BaseClass.cpp `
    src/QuadrupedRobotSimulation/KinematicsSimulation.cpp `
    src/QuadrupedRobotSimulation/CompleteJsonExporter.cpp `
    src/QuadrupedRobotSimulation/KinematicsReverse.cpp `
    src/QuadrupedRobotSimulation/KinematicsHelper.cpp `
    src/QuadrupedRobotSimulation/SharedGeometry.cpp `
    src/FourBarMechanism/CrankSliderMechanism.cpp `
    src/FourBarMechanism/CrankRockingBlockMechanism_Forward.cpp `
    src/FourBarMechanism/CrankRockingBlockMechanism_Inverse.cpp `
    src/FourBarMechanism/FourBarMechanism.cpp `
    src/FourBarMechanism/SliderCrankMechanism.cpp `
    src/RobotManager.cpp `
    src/utils.cpp `
    src/math_utils.cpp `
    src/smart_json_wrapper.cpp `
    src/kdl_parser/src/kdl_parser.cpp `
    src/kdl_parser/src/joint.cpp `
    src/kdl_parser/src/link.cpp `
    src/kdl_parser/src/model.cpp `
    src/kdl_parser/src/pose.cpp `
    src/kdl_parser/src/tinystr.cpp `
    src/kdl_parser/src/tinyxml.cpp `
    src/kdl_parser/src/tinyxml2.cpp `
    src/kdl_parser/src/tinyxmlerror.cpp `
    src/kdl_parser/src/tinyxmlparser.cpp `
    src/kdl_parser/src/twist.cpp `
    src/kdl_parser/src/world.cpp `
    -I./inc `
    -I./inc/QuadrupedRobotSimulation `
    -I./inc/FourBarMechanism `
    -I./inc/SharedGeometry `
    -I./src/kdl_parser/include `
    -I./KDL/install_wasm/include `
    -I./Eigen3 `
    -I./Eigen3/eigen3 `
    -L./KDL/install_wasm/lib `
    -lorocos-kdl `
    -O3 `
    -g0 `
    -DNDEBUG `
    -fno-standalone-debug `
    -s WASM=1 `
    -s ALLOW_MEMORY_GROWTH=1 `
    -s INITIAL_MEMORY=67108864 `
    -s MAXIMUM_MEMORY=268435456 `
    -s USE_PTHREADS=0 `
    -s MODULARIZE=1 `
    -s EXPORT_NAME='createSmartMathModule' `
    -s EXPORTED_FUNCTIONS='["_init_func","_func","_smart_process_json","_smart_get_function_list","_smart_get_function_info","_smart_test_match","_smart_get_version","_smart_free_string","_malloc","_free","_main"]' `
    -s EXPORTED_RUNTIME_METHODS='["UTF8ToString","stringToUTF8","lengthBytesUTF8","ccall","cwrap","HEAPU8","HEAP8","HEAPF32","HEAPF64"]' `
    -Wno-deprecated-literal-operator `
    -o public/wasm/smart_math.js
    
   


    python -m http.server 8080