Targeted locomotion for robots (HW first)

- Added AngleToTargetDetectorClass
- Added camera to HW controller
- added OpenCV dependency
- added raspicam dependency

cpprevolve/revolve/brains/CMakeLists.txt

@@ -2,6 +2,8 @@ set (CMAKE_CXX_STANDARD 14)
 
 set(CONTROLLER_SRCS
  controller/DifferentialCPG.cpp
+ controller/BrokenDifferentialCPG.cpp
+ controller/sensors/AngleToTargetDetector.cpp
 )
 set(LEARNER_SRCS
  learner/Learner.cpp
@@ -17,9 +19,12 @@ find_package(Boost REQUIRED COMPONENTS system)
 
 # Find Eigen3 - A lightweight C++ template library for vector and matrix math
 find_package(Eigen3 REQUIRED)
-
 find_package(MultiNEAT REQUIRED)
 
+# These dependencies are required for the AngleToTargetDetector Sensor
+find_package(OpenCV REQUIRED)
+#find_package(raspicam REQUIRED) #only on the raspberry side
+
 # Find NLOpt - Non Linear Optimization
 pkg_check_modules(NLOpt REQUIRED nlopt>=2.4)
 
@@ -32,7 +37,8 @@ add_library(revolve-learners SHARED ${LEARNER_SRCS})
 
 target_include_directories(revolve-controllers
  PUBLIC ${EIGEN3_INCLUDE_DIR}
- PUBLIC ${Boost_INCLUDE_DIRS})
+ PUBLIC ${Boost_INCLUDE_DIRS}
+ PUBLIC ${OpenCV_INCLUDE_DIRS})
 
 target_include_directories(revolve-learners
  PUBLIC ${EIGEN3_INCLUDE_DIR}
@@ -44,11 +50,13 @@ target_compile_definitions(revolve-learners
  PUBLIC USE_NLOPT=1)
 
 target_link_libraries(revolve-controllers
- MultiNEAT::MultiNEAT)
+ MultiNEAT::MultiNEAT
+ ${OpenCV_LIBS})
 
 target_link_libraries(revolve-learners
+ revolve-controllers
  MultiNEAT::MultiNEAT)
 
 install(TARGETS revolve-controllers revolve-learners
  RUNTIME DESTINATION bin
- LIBRARY DESTINATION lib)
+ LIBRARY DESTINATION lib)