Quote:
Originally Posted by virtuald
Yep. On a normal *nix machine, you have to add -lm to your link command to use the math library. I expect this is the same thing in Wind River.
|
That would not be true in this case. The .out file we load on the robots is a relocatable object that is dynamically loaded and linked into the VxWorks kernel space. So it works like adding a kernel module in Linux, not like an executable and library in user space. It would be true if we used real-time processes (RTPs) in VxWorks which are much like processes in Linux but we don't. I think support for them is not included in the kernel we are provided.
Are you sure it is atan2 that is not being resolved? It should be there. The OS image includes the GNU math libraries and we have used atan2 before in field-centric driver algorithms.
Good luck!