96 lines
2.6 KiB
Plaintext
96 lines
2.6 KiB
Plaintext
emcc `
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src/KinematicsWebAPI.cpp `
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src/main.cpp `
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src/Robot.cpp `
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src/RobotManager.cpp `
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src/utils.cpp `
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src/kdl_parser/src/kdl_parser.cpp `
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src/kdl_parser/src/joint.cpp `
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src/kdl_parser/src/link.cpp `
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src/kdl_parser/src/model.cpp `
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src/kdl_parser/src/pose.cpp `
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src/kdl_parser/src/tinystr.cpp `
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src/kdl_parser/src/tinyxml.cpp `
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src/kdl_parser/src/tinyxml2.cpp `
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src/kdl_parser/src/tinyxmlerror.cpp `
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src/kdl_parser/src/tinyxmlparser.cpp `
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src/kdl_parser/src/twist.cpp `
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src/kdl_parser/src/world.cpp `
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-I./inc `
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-I./src/kdl_parser/include `
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-I./KDL/install/include `
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-I./Eigen3 `
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-I./Eigen3/eigen3 `
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-L./KDL/install/lib `
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-lorocos-kdl `
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--source-map-base http://localhost:8000/ `
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-s WASM=1 `
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-s EXPORTED_FUNCTIONS='["_func","_smart_process_json","_smart_get_function_list","_smart_get_function_info","_smart_test_match","_smart_get_version","_smart_free_string","_malloc","_free","_main"]' `
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-s EXPORTED_RUNTIME_METHODS='["UTF8ToString","stringToUTF8","ccall","cwrap","HEAPU8", "HEAPU16", "HEAPU32", "HEAP8", "HEAP16", "HEAP32", "HEAPF32", "HEAPF64"]' `
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-s MODULARIZE=1 `
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-s EXPORT_NAME='createSmartMathModule' `
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-s ALLOW_MEMORY_GROWTH=1 `
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-s ASSERTIONS=2 `
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-s STACK_OVERFLOW_CHECK=2 `
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-s USE_PTHREADS=0 `
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-s TOTAL_MEMORY=268435456 `
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-s INITIAL_MEMORY=67108864 `
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-s MAXIMUM_MEMORY=536870912 `
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-g4 `
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-O0 `
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-o public/wasm/smart_math.js
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# 方法1：使用 Chocolatey 安装 ninja
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choco install ninja
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# 确保你在 build_wasm 目录中
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cd C:\Robotics\orocos_kinematics_dynamics\orocos_kdl\build_wasm
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# 使用反引号作为续行符
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emcmake cmake .. `
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-DCMAKE_INSTALL_PREFIX="C:\Robotics\kdl_wasm\KDL\install_wasm" `
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-DCMAKE_BUILD_TYPE=Release `
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-DBUILD_SHARED_LIBS=OFF `
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-DCMAKE_CXX_FLAGS="-s USE_PTHREADS=0" `
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-DCMAKE_EXE_LINKER_FLAGS="-s USE_PTHREADS=0" `
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-GNinja
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emmake ninja
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cmake --install . --prefix "C:\Robotics\kdl_wasm\KDL\install_wasm"
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# 或者使用 -G "MinGW Makefiles" 如果你安装了 MinGW
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方案1：先编译 KDL 为 WebAssembly
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bash
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# 1. 进入 KDL 源码目录
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cd /path/to/orocos-kdl
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# 2. 创建构建目录并编译为 WebAssembly
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mkdir build_wasm && cd build_wasm
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# 3. 使用 emcmake 配置
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emcmake cmake .. \
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-DCMAKE_INSTALL_PREFIX=../../kdl_wasm/KDL/install_wasm \
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-DCMAKE_BUILD_TYPE=Release \
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-DBUILD_SHARED_LIBS=OFF \
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-DCMAKE_CXX_FLAGS="-s USE_PTHREADS=0" \
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-DCMAKE_EXE_LINKER_FLAGS="-s USE_PTHREADS=0"
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# 4. 编译和安装
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emmake make -j4
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emmake make install |