BUILD.bazel

# -*- python -*-

load(
    "@drake//tools/skylark:drake_cc.bzl",
    "drake_cc_googletest",
    "drake_cc_library",
    "drake_cc_package_library",
)
load("//tools/lint:lint.bzl", "add_lint_tests")

package(default_visibility = ["//visibility:public"])

drake_cc_package_library(
    name = "planning",
    visibility = ["//visibility:public"],
    deps = [
        ":robot_diagram",
        ":robot_diagram_builder",
    ],
)

drake_cc_library(
    name = "robot_diagram",
    srcs = ["robot_diagram.cc"],
    hdrs = ["robot_diagram.h"],
    deps = [
        "//common:default_scalars",
        "//geometry:scene_graph",
        "//multibody/plant",
        "//systems/framework:diagram",
        "//systems/framework:diagram_builder",
    ],
)

drake_cc_library(
    name = "robot_diagram_builder",
    srcs = ["robot_diagram_builder.cc"],
    hdrs = ["robot_diagram_builder.h"],
    deps = [
        ":robot_diagram",
        "//common:default_scalars",
        "//geometry:scene_graph",
        "//multibody/parsing",
        "//multibody/plant",
        "//systems/framework:diagram_builder",
    ],
)

drake_cc_googletest(
    name = "robot_diagram_test",
    data = [
        "//manipulation/models/iiwa_description:models",
    ],
    deps = [
        ":robot_diagram",
        ":robot_diagram_builder",
        "//common/test_utilities:expect_throws_message",
    ],
)

add_lint_tests()