Internal

Adding new components

If you want to add a new component--let's call it Tracking for the purposes of this section--that uses the core libraries (simulation, robots, etc), then follow these steps:

1. In $BULLETSIM_SOURCE_DIR/CMakeLists.txt, go to the section marked Build Options, and add an option for the Tracking component.

    option(BUILD_TRACKING "Build tracking code" on)
   

2. Append a conditional to the end of $BULLETSIM_SOURCE_DIR/src/CMakeLists.txt

    if (BUILD_TRACKING)
      add_subdirectory(tracking)
    endif (BUILD_TRACKING)
   

3. Create the directory $BULLETSIM_SOURCE_DIR/src/tracking. Your code will go here.

4. You also need a $BULLETSIM_SOURCE_DIR/src/tracking/CMakeLists.txt to specify how your code will be built. Here is a rough template:

    include_directories(
      ${BULLETSIM_SOURCE_DIR}/src # this lets you include simulation headers
      # any other include directories
    )
   
    # Your code's targets go here. For example:
    add_library(tracking algorithm_common.cpp config_tracking.cpp .....)
    target_link_libraries(tracking simulation clouds robots)
   
    add_executable(.....)