How to link constraint_sampler to IKFast plugin without moveit nodes [closed]

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I have a project that doesn't require ROS to be running in the background, but still uses several MoveIt! libraries (e.g. sampling, collision detection). I would like to use an IKFast plugin to do the IK in my constraint_sampler. Reading some posts (using-moveit-kinematics-plugin-without-moveit-undefined-symbol-for-urdf/), it feels like it is possible to compile the IKFast plugin and link the constraint_sampler to it.

I know that I have not done that yet because there is no place where I have referenced the IKFast plugin file location. Does anyone know where to start? How can you manually specify a kinematics plugin without a moveit node running?