Add a BUILD file for drake/examples/Pendulum. This is the first subst…

…antive consumer of IPOPT in the Bazel build.

drake/examples/Pendulum/BUILD

@@ -0,0 +1,68 @@
+# -*- python -*-
+# This file contains rules for Bazel; see drake/doc/bazel.rst.
+
+load("//tools:cpplint.bzl", "cpplint")
+load("//tools:drake.bzl", "cc_googletest")
+
+cc_library(
+    name = "pendulum_state_vector",
+    srcs = ["gen/pendulum_state_vector.cc"],
+    hdrs = ["gen/pendulum_state_vector.h"],
+    linkstatic = 1,
+    deps = [
+        "//drake/systems/framework:vector",
+    ],
+)
+
+cc_library(
+    name = "pendulum_plant",
+    srcs = ["pendulum_plant.cc"],
+    hdrs = ["pendulum_plant.h"],
+    deps = [
+        ":pendulum_state_vector",
+        "//drake/systems/framework",
+    ],
+)
+
+cc_library(
+    name = "pendulum_swing_up",
+    srcs = ["pendulum_swing_up.cc"],
+    hdrs = ["pendulum_swing_up.h"],
+    deps = [
+        ":pendulum_plant",
+        "//drake/systems/trajectory_optimization:direct_collocation",
+    ],
+)
+
+# === test/ ===
+
+cc_googletest(
+    name = "pendulum_urdf_dynamics_test",
+    data = ["Pendulum.urdf"],
+    deps = [
+        ":pendulum_plant",
+        "//drake/common:eigen_matrix_compare",
+        "//drake/multibody:rigid_body_tree",
+        "//drake/multibody/parsers",
+        "//drake/multibody/rigid_body_plant",
+    ],
+)
+
+cc_googletest(
+    name = "pendulum_dynamic_constraint_test",
+    deps = [
+        ":pendulum_plant",
+        "//drake/common:eigen_matrix_compare",
+        "//drake/systems/trajectory_optimization:direct_collocation",
+    ],
+)
+
+cc_googletest(
+    name = "pendulum_trajectory_optimization_test",
+    deps = [
+        ":pendulum_swing_up",
+        "//drake/common:eigen_matrix_compare",
+    ],
+)
+
+cpplint()