generate_parameter_library(default_request_adapter_parameters res/default_request_adapter_params.yaml)

add_library(moveit_default_planning_request_adapter_plugins SHARED
  src/check_for_stacked_constraints.cpp
  src/check_start_state_bounds.cpp
  src/check_start_state_collision.cpp
  src/validate_workspace_bounds.cpp
  src/resolve_constraint_frames.cpp
)

target_link_libraries(moveit_default_planning_request_adapter_plugins default_request_adapter_parameters)

set_target_properties(moveit_default_planning_request_adapter_plugins PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(moveit_default_planning_request_adapter_plugins
  moveit_core
  rclcpp
  pluginlib
)
