Merge branch 'optimization' of https://gitlab.com/Simox/simox into optimization

VirtualRobot/CMakeLists.txt

@@ -265,6 +265,16 @@ if (Simox_USE_NLOPT AND NLOPT_FOUND)
     )
 endif ()
 
+if (Simox_USE_NLOPT AND NLOPT_FOUND)
+    SET(SOURCES ${SOURCES}
+        IK/ConstrainedOptimizationIK.cpp
+    )
+
+    SET(INCLUDES ${INCLUDES}
+        IK/ConstrainedOptimizationIK.h
+    )
+endif ()
+
 if (Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
 
     SET(SOURCES