find_package(Eigen3 3.3 REQUIRED NO_MODULE)
find_package(osqp REQUIRED)
find_package(OsqpEigen REQUIRED)
find_package(PkgConfig REQUIRED)
find_package(fcl REQUIRED)
pkg_check_modules(TINYXML2 REQUIRED tinyxml2)

include_directories(${TINYXML2_INCLUDE_DIRS})

add_library(planner STATIC
    joint_space_planner/src/joint_space_planner.cpp
    joint_space_planner/src/joint_space_planner_creator.cpp
)

target_include_directories(planner PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

target_link_libraries(planner PRIVATE
        Eigen3::Eigen
        OsqpEigen::OsqpEigen
        ${TINYXML2_LIBRARIES}
        fcl
)

add_library(cmvr_es::planner ALIAS planner)