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he word hack can mean a lot of different things. It is a piece of equipment used in the ice sport of curling. It can be also be used to refer to an unskilled journalist or a particularly partisan politico. In some parts of the world, taxicabs are still sometimes referred to as hacks; a derivative of hackney carriage, which was the seventeenth-century English term for vehicle for hire. Tracing it all the way back, the word originally referred to a person who constructed furniture with an axe. Honestly, for a chapter intended as an introduction to modifying Robosapien, you can t get much better foreshadowing than that!

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Next, it is time to compile again. Go make a coffee, we re just warming up!

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More likely, though, the word hack conjures up images of computer nerds, piles of empty Mountain Dew soda cans, and pizza boxes, all lit by the dim glow of computer monitors. Most people today mistakenly think of hackers as programmers and software engineers who use their skills to gain unauthorized access to other computer systems and networks; in fact, this activity is what is known as cracking and the people who do it are crackers. Today, the term hacker has come to define a person who stretches the capabilities of either software or hardware further than the designers of the software or hardware envisioned. Axes are optional. For purposes of our discussion on Robosapien, hacking refers to modifying and/or enhancing the robot beyond its out-of-the-box capabilities. I hated when all of a sudden you realized that planned obsolescence in toys was designed so that when it was taken apart it could not be reverse-engineered or put back together. You look at B.I.O. Bugs, though, you look at Robosapien, and all of a sudden you realize that this thing is not just designed to sort of go back together, it is designed to be improved, modified, and basically transferred on. What I wanted was, I wanted a toy where after I figured out everything that the toy designer had put into it, what else could I put in Mark Tilden, February 13, 2005 It is no secret that Robosapien s hackability is planned, and as we began to see in 5 (which covered Robosapien s anatomy), much of the design is based around allowing the robot to be easily modified, augmented, and even repaired. Figure 12-2. Compared to the maze of wires and PCBs in the iRobot Roomba Discovery robot vacuum cleaner, Robosapien s internal design is simple and straightforward.

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Now merge the compiled code for the two platforms using lipo, a program that creates universal (multi-architecture) files. The five resulting universal library files can be used by either the device or simulator without the need to swap them.

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This chapter takes a look at what hacking Robosapien really means, and we begin thinking about some of the ways that Robosapien can be hacked.

$ $ $ $ cd ../opencvlib for LIB in libcv.a libcxcore.a libcvaux.a libml.a libhighgui.a do lipo -create `find .. -name $LIB` -output $LIB done

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In order to access functions in these libraries, you ll need the header files containing the function declarations. These files are found under cv/include, cvaux/include, cxcore/include, ml/include, and otherlibs/highgui. To save you from looking around and copying them manually, use the following hacky command to copy all the necessary .h and .hpp files to the opencvlib directory automaticaly. Essentially, it looks for certain header filename patterns (grep), but excludes some unnecessary matches (egrep v) and copies the results.

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