Draft: Nihed's experiments

.gitignore

@@ -15,6 +15,7 @@ env/
 develop-eggs/
 dist/
 downloads/
+yaml_temp/
 eggs/
 .eggs/
 lib/
@@ -70,4 +71,4 @@ target/
 
 # Revolve related
 *.sdf
-*.urdf
+*.urdf

cpprevolve/CMakeLists.txt

@@ -66,6 +66,9 @@ include_directories(${Boost_INCLUDE_DIRS})
 find_package(Eigen3 REQUIRED)
 include_directories(${EIGEN3_INCLUDE_DIR})
 
+find_package( OpenCV REQUIRED )
+include_directories( ${OpenCV_INCLUDE_DIRS} )
+
 # Find NLOpt - Non Linear Optimization
 pkg_check_modules(NLOpt REQUIRED nlopt>=2.4)
 include_directories(${NLOpt_INCLUDE_DIRS})
@@ -76,6 +79,10 @@ set(LIMBO_DIR ../thirdparty/limbo)
 set(LIMBO_DEFINES USE_NLOPT)
 include_directories(${LIMBO_DIR}/src)
 
+# Find galgo library for EA
+set(GALGO_DIR ../thirdparty/galgo)
+include_directories(${GALGO_DIR})
+
 # Find GSL - GNU Scientific Library
 find_package(GSL REQUIRED)
 include_directories(${GSL_INCLUDE_DIRS})
@@ -87,16 +94,25 @@ include_directories(${YAML_CPP_INCLUDE_DIR})
 # Find Gazebo
 # LOCAL_GAZEBO_DIR can be set to a path with a gazebo-config.cmake
 if (LOCAL_GAZEBO_DIR)
-    find_package(gazebo 9 REQUIRED CONFIG
+    find_package(gazebo 10 REQUIRED CONFIG
             PATHS "${LOCAL_GAZEBO_DIR}"
             NO_DEFAULT_PATH)
     message(WARNING "Using local Gazebo @ ${gazebo_DIR}")
 else()
-    find_package(gazebo 9 REQUIRED)
+    find_package(gazebo 10 REQUIRED)
 endif()
 include_directories(${GAZEBO_INCLUDE_DIRS})
 link_directories(${GAZEBO_LIBRARY_DIRS})
 
+pkg_check_modules(libavcodec libavcodec)
+if (NOT libavcodec_FOUND)
+    BUILD_WARNING("libavcodec not found.")
+else()
+    include_directories(${libavcodec_INCLUDE_DIRS})
+    link_directories(${libavcodec_LIBRARY_DIRS})
+endif ()
+
+
 # Find Protobuf
 # TODO: This part is currently a mess, and it should be handeled better
 find_package(Protobuf REQUIRED)