set(MOVEIT_LIB_NAME moveit_planning_scene)

add_library(${MOVEIT_LIB_NAME} src/planning_scene.cpp)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})

target_link_libraries(${MOVEIT_LIB_NAME}
  moveit_robot_model
  moveit_robot_state
  moveit_exceptions
  moveit_transforms
  moveit_collision_detection_fcl
  moveit_kinematic_constraints
  moveit_robot_trajectory
  moveit_trajectory_processing
  ${LIBOCTOMAP_LIBRARIES} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})

add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})

install(TARGETS ${MOVEIT_LIB_NAME}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})

if(CATKIN_ENABLE_TESTING)
  find_package(moveit_resources REQUIRED)
  include_directories(${moveit_resources_INCLUDE_DIRS})

  catkin_add_gtest(test_planning_scene test/test_planning_scene.cpp)
  target_link_libraries(test_planning_scene ${MOVEIT_LIB_NAME})
endif()
