[Research] How to integrate manifold in Drake

[Andrés Fortier]

We need to do some initial exploration on how to get manifold running in Drake

[Agustin Alba Chicar]

For building it with Bazel, we should refer to the docs and see the inlude external libraries. Documentation can be found here:

• https://bazel.build/versions/master/docs/be/c-cpp.html
• https://bazel.build/versions/master/docs/external.html

[Agustin Alba Chicar]

I have created a docker image that loads Drake, Ignition Math and Manifold and compiles the last two. I still need to work on how to load program with Manifold and Ignition math libraries built with it.

[Agustin Alba Chicar]

After some research, I have found the following:

• To include external libraries, but system wide installed ones, you have to do the following:

    linkopts = [
        "-lignition-math2",  
        "-lmanifold0",
    ],
    copts = [
        "-I/usr/include/ignition/math2", 
        "-I/usr/include/manifold0",
        "-std=c++11"  
    ],

In the previous snippet I put the exact configuration for loading Manifold and Igntion-Math into a Bazel BUILD file, cc_binary section.

• You cannot include locally built libraries in that way (except for those built inside the Bazel's WORKSPACE).

I got a sample program that loads a sample RNDF file inside Manifold and then prints the name of all the vertices of the graph structure.

[Andrés Fortier]

Closing this, we are heading in a different way.

[Agustin Alba Chicar]

Added sample project. refs #82

→ <<cset 2bf22c26d716>>

[Agustin Alba Chicar]

Added a base Drake Dockerfile. refs #82

→ <<cset af11e4b4bb2a>>

[Agustin Alba Chicar]

Removed useless target. refs #82

→ <<cset 2ab844f13347>>

[Agustin Alba Chicar]

Corrected the installation path of manifold. refs #82

→ <<cset d1731d0fd11a>>

[Agustin Alba Chicar]

Added the init script to gazebo base images. refs #82

→ <<cset 369039bd6a1a>>