add_library(ik_solver SHARED
        ${CMAKE_CURRENT_SOURCE_DIR}/common/src/ik_solver.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/common/src/urdf_parser.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/pinocchio/src/pinocchio_ik_base.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/pinocchio/src/pinocchio_dls_ik_solver.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/pinocchio/src/pinocchio_qp_ik_solver.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/srs/src/srs_ik_solver.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/lawba/src/joints_limit_analyzer.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/lawba/src/lawba_ik_solver.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/lawba/src/opt_psi_selector.cpp
)

target_include_directories(ik_solver PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

target_link_libraries(ik_solver PUBLIC
	osqp
	OsqpEigen
	pinocchio_default
	pinocchio_parsers
	pinocchio_collision
		cmvr_es::base_motion
		cmvr_es::common
)

add_library(cmvr_es::ik_solver ALIAS ik_solver)

install(TARGETS ik_solver LIBRARY DESTINATION lib)
# --------------------------------------------------------
# Unit test
# --------------------------------------------------------

add_executable(srs_ik_test
        ${CMAKE_CURRENT_SOURCE_DIR}/tests/src/srs_ik_test.cpp
)


target_link_libraries(srs_ik_test
        PRIVATE
        cmvr_es::ik_solver
        cmvr_es::base_motion
        cmvr_es::arm_motion
		cmvr_es::proto
        cmvr_es::mujoco_viewer
		gtest
		gtest_main
        pthread
        glog
        matplot
)




add_executable(ik_test
        ${CMAKE_CURRENT_SOURCE_DIR}/tests/src/ik_test.cpp
)

target_link_libraries(ik_test
        PRIVATE
        cmvr_es::ik_solver
        cmvr_es::mujoco_viewer 
        gtest
        gtest_main
        pthread
        glog
        cmvr_es::proto
)