diff --git a/CMakeLists.txt b/CMakeLists.txt
index aa900db479a0c561c385e42cf4df2b7609b2c986..ee9acc0c1eed3e4852d955ec4541fae277c3fda9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -116,6 +116,7 @@ set (Simox_BUILD_VirtualRobot TRUE CACHE BOOL "Build Virtual Robot library")
 set (Simox_BUILD_Saba TRUE CACHE BOOL "Build Motion Planning library")
 set (Simox_BUILD_GraspStudio TRUE CACHE BOOL "Build Grasp Planning library")
 set (Simox_BUILD_SimDynamics TRUE CACHE BOOL "Build Dynamic Simulation")
+set (Simox_BUILD_GeometricPlanning TRUE CACHE BOOL "Build Geometric Planning Library")
 
 MESSAGE (STATUS "** SIMOX BUILD SimoxUtility: TRUE (can't be turned off)")
 MESSAGE (STATUS "** SIMOX BUILD SimoxQtUtility: TRUE (can't be turned off)")
@@ -123,6 +124,7 @@ MESSAGE (STATUS "** SIMOX BUILD VirtualRobot: ${Simox_BUILD_VirtualRobot}")
 MESSAGE (STATUS "** SIMOX BUILD Saba        : ${Simox_BUILD_Saba}")
 MESSAGE (STATUS "** SIMOX BUILD GraspStudio : ${Simox_BUILD_GraspStudio}")
 MESSAGE (STATUS "** SIMOX BUILD SimDynamics : ${Simox_BUILD_SimDynamics}")
+MESSAGE (STATUS "** SIMOX BUILD GeometricPlanning : ${GeometricPlanning}")
 ############################# SETUP PATHS #############################
 if(WIN32 AND NOT CYGWIN)
     set(INSTALL_CMAKE_DIR CMake             CACHE PATH "Installation directory for CMake files")
@@ -246,6 +248,13 @@ if (Simox_BUILD_GraspStudio)
     list (APPEND Simox_LIBRARIES GraspStudio)
 endif()
 
+#######################################################################################
+if (Simox_BUILD_GeometricPlanning)
+    add_subdirectory(GeometricPlanning)
+    list(APPEND SIMOX_EXPORT_TARGET_LIST GeometricPlanning)
+    list (APPEND Simox_LIBRARIES GeometricPlanning)
+endif()
+
 #######################################################################################
 if (Simox_BUILD_SimDynamics)
     find_package(Bullet QUIET)
diff --git a/CMakeModules/SimoxConfig.cmake.in b/CMakeModules/SimoxConfig.cmake.in
index bb5d268367baef382f158c599d45fbfda2dc1978..34a07145732765be2cea7b9c89839f10c0a9ef19 100644
--- a/CMakeModules/SimoxConfig.cmake.in
+++ b/CMakeModules/SimoxConfig.cmake.in
@@ -70,6 +70,9 @@ FIND_PACKAGE(Boost ${Simox_BOOST_VERSION} EXACT COMPONENTS
     regex
     QUIET)
 
+find_package(doctest QUIET)
+
+
 FIND_PACKAGE(SoQt QUIET)
 
 if (NOT (Simox_FIND_QUIETLY OR VirtualRobot_FIND_QUIETLY))