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()

drake/solvers/BUILD

@@ -55,8 +55,8 @@ cc_library(
 # - equality_constrained_qp_solver
 # - linear_system_solver
 # - moby_lcp_solver
-# - IPOPT
-# - Gurobi (on Ubuntu)
+# - IPOPT (on Ubuntu only)
+# - Gurobi (on Ubuntu only)
 
 # Unsupported solvers:
 # - dReal
@@ -174,15 +174,23 @@ cc_library(
 
 cc_library(
     name = "ipopt_solver",
-    srcs = ["ipopt_solver.cc"],
+    srcs = select({
+        "//tools:apple": ["no_ipopt.cc"],
+        "//tools:linux": ["ipopt_solver.cc"],
+    }),
     hdrs = ["ipopt_solver.h"],
     linkstatic = 1,
     visibility = ["//visibility:private"],
-    deps = [
-        "@ipopt//:ipopt",
-        ":mathematical_program_api",
-        "//drake/math:autodiff",
-    ],
+    deps = select({
+        "//tools:linux": [
+            "@ipopt//:ipopt",
+            ":mathematical_program_api",
+            "//drake/math:autodiff",
+        ],
+        "//tools:apple": [
+            ":mathematical_program_api",
+        ],
+    }),
 )
 
 # === test/ ===