This component uses the stream aligner library of ROCK to align two streams of type RigidBodyState. The library itself can be found here.
To setup and export the component, type:
esrocos_fetch_dependencies
esrocos_generate_skeletons
amake
To build the integrated test deployment for the GR740, type:
esrocos_build_project
When compiling this component for the GR740, there exist some issues which have to be resolved first. First of all, C++ compilation for the GR740 is not properly performed yet (2018-08-20). This is due to the fact that the LDFLAGS are passed to the linker before stating the object files. That means, that all libraries are not correctly linked - most importantly the lstdc++ library.
As a workaround, go to ~/tool-inst/include/ocarina/runtime/polyorb-hi-c/make and edit the Makefile.leon.rtems_posix file. Find the entry LINK_LIBS+=-lm and change it to LINK_LIBS=$(LDFLAGS).
Please also note that due to undefined references to base/types the types/base_support library is not used. The necessary files for this component have been added manually to the source code to circumvent linking/compatibility issues.