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)