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+++ b/doc/GPL_V3
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+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc.
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+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+
+ Copyright (C)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ Copyright (C)
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+.
diff --git a/src/.emacs.desktop b/src/.emacs.desktop
new file mode 100644
index 00000000..9bb7eeae
--- /dev/null
+++ b/src/.emacs.desktop
@@ -0,0 +1,673 @@
+;; -*- mode: emacs-lisp; coding: emacs-mule; -*-
+;; --------------------------------------------------------------------------
+;; Desktop File for Emacs
+;; --------------------------------------------------------------------------
+;; Created Thu Nov 1 17:09:37 2012
+;; Desktop file format version 206
+;; Emacs version 23.3.1
+
+;; Global section:
+(setq extended-command-history nil)
+(setq file-name-history nil)
+(setq grep-history '("grep -nH -e "))
+(setq compile-history nil)
+(setq minibuffer-history nil)
+(setq query-replace-history '("ARGoS3" "Argos3" "argos3" "argos" "core" "core/common" "argos/core/" "argos/" "argos" "argos2" "argos" "argos3" "ARGOS_" "ARGOS3_" "" "inline " "CXX_" "C_" "argos" "argos3" " /****************************************/" "/****************************************/" "" "./" "TTypeMap" "TCreatorMap" "GetTypeMap" "GetCreatorMap" "plugin" "user"))
+(setq read-expression-history nil)
+(setq regexp-history nil)
+(setq regexp-search-ring nil)
+(setq search-ring '("dynamic li" "led" "data" "clone" "visito"))
+(setq shell-command-history nil)
+(setq tags-file-name nil)
+(setq register-alist nil)
+
+;; Buffer section -- buffers listed in same order as in buffer list:
+(desktop-create-buffer 206
+ "/home/pincy/Fabrica/argos3/src/core/simulator/simulator.cpp"
+ "simulator.cpp"
+ 'c++-mode
+ '(abbrev-mode doxymacs-mode)
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+ nil
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+ '((buffer-file-coding-system . undecided-unix)))
+
+(desktop-create-buffer 206
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+ "space.h"
+ 'c++-mode
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+ 1
+ '(750 nil)
+ nil
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+ '((buffer-file-coding-system . undecided-unix)))
+
+(desktop-create-buffer 206
+ "/home/pincy/Fabrica/argos3/src/argos3/core/simulator/entity/embodied_entity.h"
+ "embodied_entity.h"
+ 'c++-mode
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+ "CMakeLists.txt"
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diff --git a/src/.emacs.desktop.lock b/src/.emacs.desktop.lock
new file mode 100644
index 00000000..4bd09e97
--- /dev/null
+++ b/src/.emacs.desktop.lock
@@ -0,0 +1 @@
+22449
\ No newline at end of file
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
new file mode 100644
index 00000000..79e8d638
--- /dev/null
+++ b/src/CMakeLists.txt
@@ -0,0 +1,57 @@
+#
+# Set minimum required version
+#
+cmake_minimum_required(VERSION 2.8)
+
+#
+# Set the path additional cmake files must be searched for
+#
+set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+
+#
+# Make sure we are under unix
+#
+if(NOT UNIX)
+ message(FATAL_ERROR "ARGoS compiles only under UNIX, sorry!")
+endif(NOT UNIX)
+
+#
+# Check for GCC version >= 4.2
+#
+execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION)
+if (GCC_VERSION VERSION_GREATER 4.2 OR GCC_VERSION VERSION_EQUAL 4.2)
+ message(STATUS "GCC/G++ version >= 4.2")
+else(GCC_VERSION VERSION_GREATER 4.2 OR GCC_VERSION VERSION_EQUAL 4.2)
+ message(FATAL_ERROR "You need to have at least GCC/G++ version 4.2!")
+endif(GCC_VERSION VERSION_GREATER 4.2 OR GCC_VERSION VERSION_EQUAL 4.2)
+
+#
+# Set compiler flags
+#
+include(${CMAKE_SOURCE_DIR}/cmake/ARGoSBuildFlags.cmake)
+
+#
+# Set build options
+#
+include(${CMAKE_SOURCE_DIR}/cmake/ARGoSBuildOptions.cmake)
+
+#
+# Check for GSL
+# It is required only when compiling the simulator
+#
+find_package(GSL)
+if(GSL_FOUND)
+ add_definitions(${CMAKE_GSL_CXX_FLAGS})
+ include_directories(${GSL_INCLUDE_DIR})
+ link_directories(${GSL_LINK_DIRECTORIES})
+else(GSL_FOUND)
+ if(ARGOS_BUILD_FOR STREQUAL "SIMULATOR")
+ message(FATAL_ERROR "When compiling the ARGoS simulator, GSL is required")
+ endif(ARGOS_BUILD_FOR STREQUAL "SIMULATOR")
+endif(GSL_FOUND)
+
+#
+# Compile stuff
+#
+add_subdirectory(core)
+#add_subdirectory(plugins)
diff --git a/src/argos3 b/src/argos3
new file mode 120000
index 00000000..945c9b46
--- /dev/null
+++ b/src/argos3
@@ -0,0 +1 @@
+.
\ No newline at end of file
diff --git a/src/cmake/ARGoSBuildFlags.cmake b/src/cmake/ARGoSBuildFlags.cmake
new file mode 100644
index 00000000..10cb155c
--- /dev/null
+++ b/src/cmake/ARGoSBuildFlags.cmake
@@ -0,0 +1,27 @@
+#
+# General compilation flags
+#
+set(CMAKE_C_FLAGS "-Wall")
+set(CMAKE_C_FLAGS_RELEASE "-Os -DNDEBUG")
+set(CMAKE_C_FLAGS_RELWITHDEBINFO "-Os -ggdb3 -DNDEBUG")
+set(CMAKE_C_FLAGS_DEBUG "-ggdb3")
+
+set(CMAKE_CXX_FLAGS "-Wall")
+set(CMAKE_CXX_FLAGS_RELEASE "-Os -DNDEBUG")
+set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-Os -ggdb3 -DNDEBUG")
+set(CMAKE_CXX_FLAGS_DEBUG "-ggdb3")
+
+if(APPLE)
+ # MAC OSX
+ # Allow for dynamic lookup of undefined symbols
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -undefined dynamic_lookup")
+else(APPLE)
+ # Linux
+ # Avoid discarding unused symbols to allow plugins to work
+ set(CMAKE_SHARED_LINKER_FLAGS "-Wl,--no-as-needed")
+endif(APPLE)
+
+#
+# This is required for TinyXML++ to work
+#
+add_definitions(-DTIXML_USE_TICPP)
diff --git a/src/cmake/ARGoSBuildOptions.cmake b/src/cmake/ARGoSBuildOptions.cmake
new file mode 100644
index 00000000..a28ba5b2
--- /dev/null
+++ b/src/cmake/ARGoSBuildOptions.cmake
@@ -0,0 +1,40 @@
+#
+# What is ARGoS being built for?
+# Accepted values: "SIMULATOR" or a robot name (uppercase)
+#
+if(NOT DEFINED ARGOS_BUILD_FOR)
+ # Variable was not set, set to default value
+ set(ARGOS_BUILD_FOR "SIMULATOR" CACHE STRING "What is ARGoS being built for? \"Simulator\" or a robot name (uppercase)")
+endif(NOT DEFINED ARGOS_BUILD_FOR)
+# Set the macro according to value set in ARGOS_BUILD_FOR
+add_definitions(-DARGOS_${ARGOS_BUILD_FOR}_BUILD)
+
+#
+# Compile thread-safe or thread-unsafe log
+# By default, use the thread-safe version
+# When compiling for the simulator, the thread-safe version is mandatory
+#
+if(NOT DEFINED ARGOS_THREADSAFE_LOG)
+ set(ARGOS_THREADSAFE_LOG TRUE CACHE BOOL "ON -> compile thread-safe version of log, OFF -> compile thread-unsafe version of log")
+endif(NOT DEFINED ARGOS_THREADSAFE_LOG)
+if((NOT ARGOS_THREADSAFE_LOG) AND (ARGOS_BUILD_FOR STREQUAL "SIMULATOR"))
+ message(FATAL_ERROR "When compiling for the simulator, ARGOS_THREADSAFE_LOG must be ON")
+endif((NOT ARGOS_THREADSAFE_LOG) AND (ARGOS_BUILD_FOR STREQUAL "SIMULATOR"))
+if(ARGOS_THREADSAFE_LOG)
+ add_definitions(-DARGOS_THREADSAFE_LOG)
+endif(ARGOS_THREADSAFE_LOG)
+
+#
+# Compile support for dynamic library loading or not
+# By default, support for dynamic library loading is on
+# When compiling for the simulator, support for dynamic library loading must be on
+#
+if(NOT DEFINED ARGOS_DYNAMIC_LIBRARY_LOADING)
+ set(ARGOS_DYNAMIC_LIBRARY_LOADING TRUE CACHE BOOL "ON -> compile support for dynamic library loading, OFF -> no support for dynamic library loading")
+endif(NOT DEFINED ARGOS_DYNAMIC_LIBRARY_LOADING)
+if((NOT ARGOS_DYNAMIC_LIBRARY_LOADING) AND (ARGOS_BUILD_FOR STREQUAL "SIMULATOR"))
+ message(FATAL_ERROR "When compiling for the simulator, ARGOS_DYNAMIC_LIBRARY_LOADING must be ON")
+endif((NOT ARGOS_DYNAMIC_LIBRARY_LOADING) AND (ARGOS_BUILD_FOR STREQUAL "SIMULATOR"))
+if(ARGOS_DYNAMIC_LIBRARY_LOADING)
+ add_definitions(-DARGOS_DYNAMIC_LIBRARY_LOADING)
+endif(ARGOS_DYNAMIC_LIBRARY_LOADING)
diff --git a/src/cmake/CheckQTOpenGL4ARGoS.cmake b/src/cmake/CheckQTOpenGL4ARGoS.cmake
new file mode 100644
index 00000000..9fa6ef00
--- /dev/null
+++ b/src/cmake/CheckQTOpenGL4ARGoS.cmake
@@ -0,0 +1,71 @@
+# Checks whether QT4, OpenGL and GLUT are present and correctly configured
+#
+# Usage:
+#
+# INCLUDE(CheckQTOpenGL4ARGoS)
+# IF(ARGOS_COMPILE_QTOPENGL)
+#
+# your qt-opengl-dependent code here
+#
+# ENDIF(ARGOS_COMPILE_QTOPENGL)
+#
+# This module defines this variable:
+#
+# ARGOS_COMPILE_QTOPENGL - True if QT4, OpenGL and GLUT are present and correctly configured
+#
+# AUTHOR: Carlo Pinciroli
+
+# Check for QT4
+set(ARGOS_COMPILE_QTOPENGL false)
+set(QT_USE_QTOPENGL true)
+find_package(Qt4)
+if(QT4_FOUND)
+ # QT4 found, is it the minimum required version?
+ if(QT_VERSION_MAJOR GREATER 3 AND QT_VERSION_MINOR GREATER 2)
+ # Is the QTOpenGL module present?
+ if(QT_QTOPENGL_FOUND)
+ # QT is OK, now check for OpenGL
+ find_package(OpenGL)
+ if(OPENGL_FOUND)
+ # OpenGL is ok, now check for GLUT
+ find_package(GLUT)
+ if(GLUT_FOUND)
+ # GLUT is ok
+
+ # All the required libraries are OK
+ set(ARGOS_COMPILE_QTOPENGL true)
+ if( APPLE )
+ include_directories(${OPENGL_INCLUDE_DIR}/Headers)
+ endif( APPLE )
+ include(${QT_USE_FILE})
+
+ # Now check for SDL (optional)
+ set(SDL_BUILDING_LIBRARY true)
+ find_package(SDL)
+ if(SDL_FOUND)
+ # SDL is ok
+ add_definitions(-DQTOPENGL_WITH_SDL)
+
+ else(SDL_FOUND)
+ message(STATUS "SDL not found. QTOpenGL won't have joystick support.")
+ endif(SDL_FOUND)
+
+ else(GLUT_FOUND)
+ message(STATUS "GLUT not found. Skipping compilation of QT-OpenGL visualization.")
+ endif(GLUT_FOUND)
+
+ else(OPENGL_FOUND)
+ message(STATUS "OpenGL not found. Skipping compilation of QT-OpenGL visualization.")
+ endif(OPENGL_FOUND)
+
+ else(QT_QTOPENGL_FOUND)
+ message(STATUS "QtOpenGL module not found. Skipping compilation of QT-OpenGL visualization.")
+ endif(QT_QTOPENGL_FOUND)
+
+ else(QT_VERSION_MAJOR GREATER 3 AND QT_VERSION_MINOR GREATER 2)
+ message(STATUS "Minimum required version for Qt (>= 4.3) not found. Skipping compilation of QT-OpenGL visualization.")
+ endif(QT_VERSION_MAJOR GREATER 3 AND QT_VERSION_MINOR GREATER 2)
+
+else(QT4_FOUND)
+ message(STATUS "Qt4 not found, skipping compilation of QT-OpenGL visualization.")
+endif(QT4_FOUND)
diff --git a/src/cmake/FindGSL.cmake b/src/cmake/FindGSL.cmake
new file mode 100644
index 00000000..856faa01
--- /dev/null
+++ b/src/cmake/FindGSL.cmake
@@ -0,0 +1,179 @@
+# Try to find gnu scientific library GSL
+# See
+# http://www.gnu.org/software/gsl/ and
+# http://gnuwin32.sourceforge.net/packages/gsl.htm
+#
+# Once run this will define:
+#
+# GSL_FOUND = system has GSL lib
+#
+# GSL_LIBRARIES = full path to the libraries
+# on Unix/Linux with additional linker flags from "gsl-config --libs"
+#
+# CMAKE_GSL_CXX_FLAGS = Unix compiler flags for GSL, essentially "`gsl-config --cxxflags`"
+#
+# GSL_INCLUDE_DIR = where to find headers
+#
+# GSL_LINK_DIRECTORIES = link directories, useful for rpath on Unix
+# GSL_EXE_LINKER_FLAGS = rpath on Unix
+#
+# Felix Woelk 07/2004
+# Jan Woetzel
+#
+# www.mip.informatik.uni-kiel.de
+# --------------------------------
+
+IF(WIN32)
+ # JW tested with gsl-1.8, Windows XP, MSVS 7.1, MSVS 8.0
+ SET(GSL_POSSIBLE_ROOT_DIRS
+ ${GSL_ROOT_DIR}
+ $ENV{GSL_ROOT_DIR}
+ ${GSL_DIR}
+ ${GSL_HOME}
+ $ENV{GSL_DIR}
+ $ENV{GSL_HOME}
+ $ENV{EXTERN_LIBS_DIR}/gsl
+ $ENV{EXTRA}
+ # "C:/home/jw/source2/gsl-1.8"
+ )
+ FIND_PATH(GSL_INCLUDE_DIR
+ NAMES gsl/gsl_cdf.h gsl/gsl_randist.h
+ PATHS ${GSL_POSSIBLE_ROOT_DIRS}
+ PATH_SUFFIXES include
+ DOC "GSL header include dir"
+ )
+
+ FIND_LIBRARY(GSL_GSL_LIBRARY
+ NAMES gsl libgsl
+ PATHS ${GSL_POSSIBLE_ROOT_DIRS}
+ PATH_SUFFIXES lib
+ DOC "GSL library dir" )
+
+ FIND_LIBRARY(GSL_GSLCBLAS_LIBRARY
+ NAMES gslcblas libgslcblas
+ PATHS ${GSL_POSSIBLE_ROOT_DIRS}
+ PATH_SUFFIXES lib
+ DOC "GSL cblas library dir" )
+
+ SET(GSL_LIBRARIES ${GSL_GSL_LIBRARY})
+
+ #MESSAGE("DBG\n"
+ # "GSL_GSL_LIBRARY=${GSL_GSL_LIBRARY}\n"
+ # "GSL_GSLCBLAS_LIBRARY=${GSL_GSLCBLAS_LIBRARY}\n"
+ # "GSL_LIBRARIES=${GSL_LIBRARIES}")
+
+
+ELSE(WIN32)
+
+ IF(UNIX)
+ SET(GSL_CONFIG_PREFER_PATH
+ "$ENV{GSL_DIR}/bin"
+ "$ENV{GSL_DIR}"
+ "$ENV{GSL_HOME}/bin"
+ "$ENV{GSL_HOME}"
+ CACHE STRING "preferred path to GSL (gsl-config)")
+ FIND_PROGRAM(GSL_CONFIG gsl-config
+ ${GSL_CONFIG_PREFER_PATH}
+ /usr/bin/
+ /opt/local/bin
+ )
+ # MESSAGE("DBG GSL_CONFIG ${GSL_CONFIG}")
+
+ IF (GSL_CONFIG)
+
+ MESSAGE(STATUS "GSL using gsl-config ${GSL_CONFIG}")
+ # set CXXFLAGS to be fed into CXX_FLAGS by the user:
+ EXEC_PROGRAM(${GSL_CONFIG}
+ ARGS --cflags
+ OUTPUT_VARIABLE GSL_CXX_FLAGS )
+ #SET(GSL_CXX_FLAGS "`${GSL_CONFIG} --cflags`")
+
+ # set INCLUDE_DIRS to prefix+include
+ EXEC_PROGRAM(${GSL_CONFIG}
+ ARGS --prefix
+ OUTPUT_VARIABLE GSL_PREFIX)
+ SET(GSL_INCLUDE_DIR ${GSL_PREFIX}/include CACHE STRING INTERNAL)
+
+ # set link libraries and link flags
+
+ #SET(GSL_LIBRARIES "`${GSL_CONFIG} --libs`")
+
+ # extract link dirs for rpath
+ EXEC_PROGRAM(${GSL_CONFIG}
+ ARGS --libs
+ OUTPUT_VARIABLE GSL_CONFIG_LIBS )
+ SET(GSL_LIBRARIES "${GSL_CONFIG_LIBS}")
+
+ # split off the link dirs (for rpath)
+ # use regular expression to match wildcard equivalent "-L*"
+ # with is a space or a semicolon
+ STRING(REGEX MATCHALL "[-][L]([^ ;])+"
+ GSL_LINK_DIRECTORIES_WITH_PREFIX
+ "${GSL_CONFIG_LIBS}" )
+ # MESSAGE("DBG GSL_LINK_DIRECTORIES_WITH_PREFIX=${GSL_LINK_DIRECTORIES_WITH_PREFIX}")
+
+ # remove prefix -L because we need the pure directory for LINK_DIRECTORIES
+
+ IF (GSL_LINK_DIRECTORIES_WITH_PREFIX)
+ STRING(REGEX REPLACE "[-][L]" "" GSL_LINK_DIRECTORIES ${GSL_LINK_DIRECTORIES_WITH_PREFIX} )
+ ENDIF (GSL_LINK_DIRECTORIES_WITH_PREFIX)
+ SET(GSL_EXE_LINKER_FLAGS "-Wl,-rpath,${GSL_LINK_DIRECTORIES}" CACHE STRING INTERNAL)
+ # MESSAGE("DBG GSL_LINK_DIRECTORIES=${GSL_LINK_DIRECTORIES}")
+ # MESSAGE("DBG GSL_EXE_LINKER_FLAGS=${GSL_EXE_LINKER_FLAGS}")
+
+ # ADD_DEFINITIONS("-DHAVE_GSL")
+ # SET(GSL_DEFINITIONS "-DHAVE_GSL")
+ MARK_AS_ADVANCED(
+ GSL_CXX_FLAGS
+ GSL_INCLUDE_DIR
+ GSL_LIBRARIES
+ GSL_LINK_DIRECTORIES
+ GSL_DEFINITIONS
+ )
+ MESSAGE(STATUS "Using GSL from ${GSL_PREFIX}")
+
+ ELSE(GSL_CONFIG)
+
+ INCLUDE(UsePkgConfig) #needed for PKGCONFIG(...)
+
+ MESSAGE(STATUS "GSL using pkgconfig")
+ # PKGCONFIG(gsl includedir libdir linkflags cflags)
+ PKGCONFIG(gsl GSL_INCLUDE_DIR GSL_LINK_DIRECTORIES GSL_LIBRARIES GSL_CXX_FLAGS)
+ IF(GSL_INCLUDE_DIR)
+ MARK_AS_ADVANCED(
+ GSL_CXX_FLAGS
+ GSL_INCLUDE_DIR
+ GSL_LIBRARIES
+ GSL_LINK_DIRECTORIES
+ )
+
+ ELSE(GSL_INCLUDE_DIR)
+ MESSAGE("FindGSL.cmake: gsl-config/pkg-config gsl not found. Please set it manually. GSL_CONFIG=${GSL_CONFIG}")
+ ENDIF(GSL_INCLUDE_DIR)
+
+ ENDIF(GSL_CONFIG)
+
+ ENDIF(UNIX)
+ENDIF(WIN32)
+
+
+IF(GSL_LIBRARIES)
+ IF(GSL_INCLUDE_DIR OR GSL_CXX_FLAGS)
+
+ SET(GSL_FOUND 1)
+
+ ENDIF(GSL_INCLUDE_DIR OR GSL_CXX_FLAGS)
+ENDIF(GSL_LIBRARIES)
+
+
+# ==========================================
+IF(NOT GSL_FOUND)
+ # make FIND_PACKAGE friendly
+ IF(NOT GSL_FIND_QUIETLY)
+ IF(GSL_FIND_REQUIRED)
+ MESSAGE(FATAL_ERROR "GSL required, please specify it's location.")
+ ELSE(GSL_FIND_REQUIRED)
+ MESSAGE(STATUS "ERROR: GSL was not found.")
+ ENDIF(GSL_FIND_REQUIRED)
+ ENDIF(NOT GSL_FIND_QUIETLY)
+ENDIF(NOT GSL_FOUND)
diff --git a/src/cmake/FindPthreads.cmake b/src/cmake/FindPthreads.cmake
new file mode 100644
index 00000000..a34638b7
--- /dev/null
+++ b/src/cmake/FindPthreads.cmake
@@ -0,0 +1,91 @@
+# Find the Pthreads library
+# This module searches for the Pthreads library (including the
+# pthreads-win32 port).
+#
+# This module defines these variables:
+#
+# PTHREADS_FOUND - True if the Pthreads library was found
+# PTHREADS_LIBRARY - The location of the Pthreads library
+# PTHREADS_INCLUDE_DIR - The include directory of the Pthreads library
+# PTHREADS_DEFINITIONS - Preprocessor definitions to define (HAVE_PTHREAD_H is a fairly common one)
+#
+# This module responds to the PTHREADS_EXCEPTION_SCHEME
+# variable on Win32 to allow the user to control the
+# library linked against. The Pthreads-win32 port
+# provides the ability to link against a version of the
+# library with exception handling. IT IS NOT RECOMMENDED
+# THAT YOU CHANGE PTHREADS_EXCEPTION_SCHEME TO ANYTHING OTHER THAN
+# "C" because most POSIX thread implementations do not support stack
+# unwinding.
+#
+# PTHREADS_EXCEPTION_SCHEME
+# C = no exceptions (default)
+# (NOTE: This is the default scheme on most POSIX thread
+# implementations and what you should probably be using)
+# CE = C++ Exception Handling
+# SE = Structure Exception Handling (MSVC only)
+#
+
+#
+# Define a default exception scheme to link against
+# and validate user choice.
+#
+IF(NOT DEFINED PTHREADS_EXCEPTION_SCHEME)
+ # Assign default if needed
+ SET(PTHREADS_EXCEPTION_SCHEME "C")
+ELSE(NOT DEFINED PTHREADS_EXCEPTION_SCHEME)
+ # Validate
+ IF(NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "C" AND
+ NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "CE" AND
+ NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
+
+ MESSAGE(FATAL_ERROR "See documentation for FindPthreads.cmake, only C, CE, and SE modes are allowed")
+
+ ENDIF(NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "C" AND
+ NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "CE" AND
+ NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
+
+ IF(NOT MSVC AND PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
+ MESSAGE(FATAL_ERROR "Structured Exception Handling is only allowed for MSVC")
+ ENDIF(NOT MSVC AND PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
+
+ENDIF(NOT DEFINED PTHREADS_EXCEPTION_SCHEME)
+
+#
+# Find the header file
+#
+FIND_PATH(PTHREADS_INCLUDE_DIR pthread.h)
+
+#
+# Find the library
+#
+SET(names)
+IF(MSVC)
+ SET(names
+ pthreadV${PTHREADS_EXCEPTION_SCHEME}2
+ pthread
+ )
+ELSEIF(MINGW)
+ SET(names
+ pthreadG${PTHREADS_EXCEPTION_SCHEME}2
+ pthread
+ )
+ELSE(MSVC) # Unix / Cygwin / Apple / Etc.
+ SET(names pthread)
+ENDIF(MSVC)
+
+FIND_LIBRARY(PTHREADS_LIBRARY ${names}
+ DOC "The Portable Threads Library")
+
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(Pthreads DEFAULT_MSG
+ PTHREADS_LIBRARY PTHREADS_INCLUDE_DIR)
+
+IF(PTHREADS_INCLUDE_DIR AND PTHREADS_LIBRARY)
+ SET(PTHREADS_DEFINITIONS -DHAVE_PTHREAD_H)
+ SET(PTHREADS_INCLUDE_DIRS ${PTHREADS_INCLUDE_DIR})
+ SET(PTHREADS_LIBRARIES ${PTHREADS_LIBRARY})
+ENDIF(PTHREADS_INCLUDE_DIR AND PTHREADS_LIBRARY)
+
+MARK_AS_ADVANCED(PTHREADS_INCLUDE_DIR)
+MARK_AS_ADVANCED(PTHREADS_LIBRARY)
diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt
new file mode 100644
index 00000000..fab678ba
--- /dev/null
+++ b/src/core/CMakeLists.txt
@@ -0,0 +1,217 @@
+#
+# Project name
+#
+project(argos3core)
+
+#
+# Configuration for CPack's tar.bz2 generator
+#
+set(CPACK_GENERATOR TBZ2)
+set(CPACK_PACKAGE_VERSION_MAJOR "3")
+set(CPACK_PACKAGE_VERSION_MINOR "0")
+set(CPACK_PACKAGE_VERSION_PATCH "0")
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "ARGoS3 core package")
+include(CPack)
+
+#
+# Include path is points to base source dir
+#
+include_directories(${CMAKE_SOURCE_DIR})
+
+#
+# Headers
+#
+# argos3/core/utility
+set(ARGOS3_HEADERS_UTILITY
+ utility/string_utilities.h)
+# argos3/core/utility/configuration
+set(ARGOS3_HEADERS_UTILITY_CONFIGURATION
+ utility/configuration/argos_configuration.h
+ utility/configuration/argos_exception.h
+ utility/configuration/base_configurable_resource.h
+ utility/configuration/command_line_arg_parser.h
+ utility/configuration/memento.h)
+# argos3/core/utility/configuration/tinyxml
+set(ARGOS3_HEADERS_UTILITY_CONFIGURATION_TINYXML
+ utility/configuration/tinyxml/ticpp.h
+ utility/configuration/tinyxml/ticpprc.h
+ utility/configuration/tinyxml/tinystr.h
+ utility/configuration/tinyxml/tinyxml.h)
+# argos3/core/utility/datatypes
+set(ARGOS3_HEADERS_UTILITY_DATATYPES
+ utility/datatypes/any.h
+ utility/datatypes/byte_array.h
+ utility/datatypes/color.h
+ utility/datatypes/datatypes.h)
+# argos3/core/utility/logging
+set(ARGOS3_HEADERS_UTILITY_LOGGING
+ utility/logging/argos_colored_text.h
+ utility/logging/argos_log.h)
+# argos3/core/utility/plugins
+set(ARGOS3_HEADERS_UTILITY_PLUGINS
+ utility/plugins/factory.h
+ utility/plugins/dynamic_loading.h
+ utility/plugins/factory_impl.h)
+# argos3/core/utility/profiler
+set(ARGOS3_HEADERS_UTILITY_PROFILER
+ utility/profiler/profiler.h)
+# argos3/core/utility/math
+set(ARGOS3_HEADERS_UTILITY_MATH
+ utility/math/angles.h
+ utility/math/general.h
+ utility/math/matrix.h
+ utility/math/quaternion.h
+ utility/math/range.h
+ utility/math/ray.h
+ utility/math/rotationmatrix2.h
+ utility/math/rotationmatrix3.h
+ utility/math/segment.h
+ utility/math/squarematrix.h
+ utility/math/vector2.h
+ utility/math/vector3.h
+ utility/math/rng.h)
+# argos3/core/control_interface
+set(ARGOS3_HEADERS_CONTROLINTERFACE
+ control_interface/ci_actuator.h
+ control_interface/ci_controller.h
+ control_interface/ci_robot.h
+ control_interface/ci_sensor.h)
+# argos3/core/simulator
+set(ARGOS3_HEADERS_SIMULATOR
+ simulator/simulated_actuator.h
+ simulator/simulated_sensor.h
+ simulator/argos_command_line_arg_parser.h
+ simulator/loop_functions.h
+ simulator/simulator.h)
+# argos3/core/simulator/entity
+set(ARGOS3_HEADERS_SIMULATOR_ENTITY
+ simulator/entity/composable_entity.h
+ simulator/entity/controllable_entity.h
+ simulator/entity/embodied_entity.h
+ simulator/entity/entity.h
+ simulator/entity/floor_entity.h
+ simulator/entity/medium_entity.h
+ simulator/entity/positional_entity.h
+ simulator/entity/wifi_medium_entity.h)
+# argos3/core/simulator/physics_engine
+set(ARGOS3_HEADERS_SIMULATOR_PHYSICSENGINE
+ simulator/physics_engine/physics_engine.h
+ simulator/physics_engine/physics_engine_entity.h)
+# argos3/core/simulator/visualization
+set(ARGOS3_HEADERS_SIMULATOR_VISUALIZATION
+ simulator/visualization/visualization.h)
+# argos3/core/simulator/space
+set(ARGOS3_HEADERS_SIMULATOR_SPACE
+ simulator/space/space.h
+ simulator/space/space_hash.h
+ simulator/space/space_hash_native.h
+ simulator/space/space_multi_thread_h_dispatch.h
+ simulator/space/space_multi_thread_scatter_gather.h
+ simulator/space/space_no_threads.h)
+
+#
+# Source files
+#
+set(ARGOS3_SOURCES
+ ${ARGOS3_HEADERS_UTILITY}
+ utility/string_utilities.cpp
+ ${ARGOS3_HEADERS_UTILITY_CONFIGURATION}
+ utility/configuration/command_line_arg_parser.cpp
+ ${ARGOS3_HEADERS_UTILITY_CONFIGURATION_TINYXML}
+ utility/configuration/tinyxml/ticpp.cpp
+ utility/configuration/tinyxml/tinystr.cpp
+ utility/configuration/tinyxml/tinyxml.cpp
+ utility/configuration/tinyxml/tinyxmlerror.cpp
+ utility/configuration/tinyxml/tinyxmlparser.cpp
+ ${ARGOS3_HEADERS_UTILITY_DATATYPES}
+ utility/datatypes/byte_array.cpp
+ utility/datatypes/color.cpp
+ ${ARGOS3_HEADERS_UTILITY_LOGGING}
+ utility/logging/argos_log.cpp
+ ${ARGOS3_HEADERS_UTILITY_PLUGINS}
+ ${ARGOS3_HEADERS_UTILITY_PROFILER}
+ utility/profiler/profiler.cpp
+ ${ARGOS3_HEADERS_UTILITY_MATH}
+ utility/math/angles.cpp
+ utility/math/rotationmatrix2.cpp
+ utility/math/rotationmatrix3.cpp
+ utility/math/segment.cpp
+ utility/math/vector2.cpp
+ utility/math/vector3.cpp
+ utility/math/rng.cpp
+ ${ARGOS3_HEADERS_CONTROLINTERFACE}
+ control_interface/ci_robot.cpp
+ ${ARGOS3_HEADERS_SIMULATOR}
+ simulator/argos_command_line_arg_parser.cpp
+ simulator/loop_functions.cpp
+ simulator/simulator.cpp
+ ${ARGOS3_HEADERS_SIMULATOR_ENTITY}
+ simulator/entity/controllable_entity.cpp
+ simulator/entity/embodied_entity.cpp
+ simulator/entity/entity.cpp
+ simulator/entity/floor_entity.cpp
+ simulator/entity/positional_entity.cpp
+ ${ARGOS3_HEADERS_SIMULATOR_PHYSICSENGINE}
+ simulator/physics_engine/physics_engine.cpp
+ ${ARGOS3_HEADERS_SIMULATOR_VISUALIZATION}
+ simulator/visualization/visualization.cpp
+ ${ARGOS3_HEADERS_SIMULATOR_SPACE}
+ simulator/space/space.cpp
+ simulator/space/space_multi_thread_h_dispatch.cpp
+ simulator/space/space_multi_thread_scatter_gather.cpp
+ simulator/space/space_no_threads.cpp)
+
+# Compile dynamic library loading only if enabled
+if(ARGOS3_DYNAMIC_LIBRARY_LOADING)
+ set(ARGOS3_SOURCES ${ARGOS3_SOURCES} utility/plugins/dynamic_loading.cpp)
+endif(ARGOS3_DYNAMIC_LIBRARY_LOADING)
+
+#
+# Create core ARGoS3 library
+#
+add_library(argos3core SHARED ${ARGOS3_SOURCES})
+set_target_properties(argos3core PROPERTIES VERSION 3)
+if(ARGOS3_DYNAMIC_LIBRARY_LOADING)
+ target_link_libraries(argos3core dl)
+endif(ARGOS3_DYNAMIC_LIBRARY_LOADING)
+if(GSL_FOUND)
+ target_link_libraries(argos3core ${GSL_LIBRARIES})
+endif(GSL_FOUND)
+
+
+#
+# Core library installation
+#
+install(FILES ${ARGOS3_HEADERS_UTILITY} DESTINATION include/argos3/core/utility)
+install(FILES ${ARGOS3_HEADERS_UTILITY_CONFIGURATION} DESTINATION include/argos3/core/utility/configuration)
+install(FILES ${ARGOS3_HEADERS_UTILITY_CONFIGURATION_TINYXML} DESTINATION include/argos3/core/utility/configuration/tinyxml)
+install(FILES ${ARGOS3_HEADERS_UTILITY_DATATYPES} DESTINATION include/argos3/core/utility/datatypes)
+install(FILES ${ARGOS3_HEADERS_UTILITY_LOGGING} DESTINATION include/argos3/core/utility/logging)
+install(FILES ${ARGOS3_HEADERS_UTILITY_PLUGINS} DESTINATION include/argos3/core/utility/plugins)
+install(FILES ${ARGOS3_HEADERS_UTILITY_PROFILER} DESTINATION include/argos3/core/utility/profiler)
+install(FILES ${ARGOS3_HEADERS_UTILITY_MATH} DESTINATION include/argos3/core/utility/math)
+install(FILES ${ARGOS3_HEADERS_CONTROLINTERFACE} DESTINATION include/argos3/core/control_interface)
+install(FILES ${ARGOS3_HEADERS_SIMULATOR} DESTINATION include/argos3/core/simulator)
+install(FILES ${ARGOS3_HEADERS_SIMULATOR_ENTITY} DESTINATION include/argos3/core/simulator/entity)
+install(FILES ${ARGOS3_HEADERS_SIMULATOR_PHYSICSENGINE} DESTINATION include/argos3/core/simulator/physics_engine)
+install(FILES ${ARGOS3_HEADERS_SIMULATOR_VISUALIZATION} DESTINATION include/argos3/core/simulator/visualization)
+install(FILES ${ARGOS3_HEADERS_SIMULATOR_SPACE} DESTINATION include/argos3/core/simulator/space)
+install(TARGETS argos3core
+ RUNTIME DESTINATION bin
+ LIBRARY DESTINATION lib/argos3
+ ARCHIVE DESTINATION lib/argos3)
+
+if(ARGOS3_BUILD_FOR STREQUAL "SIMULATOR")
+ #
+ # Create core ARGoS3 executable
+ #
+ add_executable(argos3 simulator/main.cpp)
+ target_link_libraries(argos3 argos3core)
+ #
+ # Core ARGoS3 installation
+ #
+ install(TARGETS argos3
+ RUNTIME DESTINATION bin
+ LIBRARY DESTINATION lib/argos3
+ ARCHIVE DESTINATION lib/argos3)
+endif(ARGOS3_BUILD_FOR STREQUAL "SIMULATOR")
diff --git a/src/core/control_interface/ci_actuator.h b/src/core/control_interface/ci_actuator.h
new file mode 100644
index 00000000..a3333f6c
--- /dev/null
+++ b/src/core/control_interface/ci_actuator.h
@@ -0,0 +1,39 @@
+/**
+ * @file argos3/core/control_interface/ci_actuator.h
+ *
+ * @brief This file provides the basic interface for all actuators.
+ *
+ * @author Carlo Pinciroli -
+ */
+
+#ifndef CI_ACTUATOR_H
+#define CI_ACTUATOR_H
+
+namespace argos {
+ class CCI_Actuator;
+}
+
+#include
+#include
+#include
+
+#include