Update lib installation path (multiarch portability).

CMakeLists.txt

@@ -63,7 +63,7 @@ SEARCH_FOR_BOOST()
 # libraries inclusion
 SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
 SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
-SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
 SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # Add subdirectories.

src/CMakeLists.txt

@@ -29,7 +29,7 @@ FUNCTION(COMPILE_PLUGIN NAME SOURCES ENTITIES)
   PKG_CONFIG_USE_DEPENDENCY(${NAME} sot-core)
   PKG_CONFIG_USE_DEPENDENCY(${NAME} jrl-dynamics)
 
-  INSTALL(TARGETS ${NAME} DESTINATION lib/plugin)
+  INSTALL(TARGETS ${NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR}/plugin)
 
   # build python submodule
   STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${NAME})
@@ -97,7 +97,7 @@ MACRO(build_hrp2_controller robotnumber)
     TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} ${Boost_LIBRARIES})
   ENDIF(UNIX AND NOT APPLE)
 
-  INSTALL(TARGETS ${CONTROLLER_NAME} DESTINATION lib)
+  INSTALL(TARGETS ${CONTROLLER_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
 
   # build python submodule
   STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${CONTROLLER_NAME})