find_package(Eigen3 3.3 REQUIRED NO_MODULE)
find_package(osqp REQUIRED)
find_package(OsqpEigen REQUIRED)
find_package(PkgConfig REQUIRED)



add_library(ik_solver SHARED
        ${CMAKE_CURRENT_SOURCE_DIR}/src/ik_solver_creator.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/src/pinocchio_dls_ik_solver.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/src/pinocchio_qp_ik_solver.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/src/bias_srs_ik_slover.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/src/joints_limit_analyzer.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/src/opt_psi_limit_bias_solver.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/src/opt_psi_selector.cpp
)

target_include_directories(ik_solver PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

target_link_libraries(ik_solver PUBLIC
        pinocchio_default
        pinocchio_parsers
        pinocchio_collision
        Eigen3::Eigen
        OsqpEigen::OsqpEigen

)

add_library(cmvr_es::ik_solver ALIAS ik_solver)


# --------------------------------------------------------
# Unit test
# --------------------------------------------------------
find_package(glog REQUIRED)
find_package(PkgConfig REQUIRED)


include_directories(
        ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/include
)

link_directories(
        ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/lib
)





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


target_link_libraries(srs_ik_test
        PRIVATE
        cmvr_es::mujoco_viewer
        gtest
        gtest_main
        pthread
        glog::glog
        proto-objects
        Eigen3::Eigen
        OsqpEigen::OsqpEigen
        cmvr_es::utils
        cmvr_es::ik_solver

)




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

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

)