How to install and run gupnp with gcc or g++

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I am intended to work with gupnp which is a library for emulation of upnp device. I use ubuntu 16.04 and installed gupnp-tools package. But failed to run a program. For example when i try to run a c file with gupnp with gcc command, error come like libgupnp/gupnp.h header not found. How should i give command to run such program? Is further installation required?

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