[CMake] clean: keep minimal required instructions

CMakeLists.txt

@@ -3,117 +3,188 @@
 
 CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
 
+# Project properties
 SET(PROJECT_ORG stack-of-tasks)
 SET(PROJECT_NAME sot-core)
 SET(PROJECT_DESCRIPTION "Hierarchical task solver plug-in for dynamic-graph.")
-SET(PROJECT_URL "http://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
+SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
 
-OPTION(BUILD_PYTHON_INTERFACE "Build the python binding" ON)
-OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python binding" OFF)
-OPTION(SUFFIX_SO_VERSION
-  "Suffix shared library name by a string depending on git status of project"
-  ON)
+# Project options
+OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
+OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
 
+# Project configuration
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  # Export CMake Target
   SET(PROJECT_USE_CMAKE_EXPORT TRUE)
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+SET(CUSTOM_HEADER_DIR "sot/core")
+SET(CXX_DISABLE_WERROR TRUE)
+SET(DOXYGEN_USE_MATHJAX YES)
 
-# Disable -Werror on Unix for now.
-SET(CXX_DISABLE_WERROR True)
-
+# JRL-cmakemodule setup
 INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/python.cmake)
 INCLUDE(cmake/boost.cmake)
+INCLUDE(cmake/python.cmake)
+INCLUDE(cmake/sphinx.cmake)
 
-# Specify the project.
+# Project definition
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
-SET(BOOST_COMPONENTS filesystem system thread program_options unit_test_framework)
+# Project dependencies
+ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED PKG_CONFIG_REQUIRES dynamic-graph)
+ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED PKG_CONFIG_REQUIRES pinocchio)
+SET(BOOST_COMPONENTS filesystem system thread program_options
+  unit_test_framework regex)
 
 IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
-  STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
-  SET(${PY_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${PY_NAME})
-  INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
-  SET(PYTHON_INSTALL_DIR
-    ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/dynamic_graph/sot/core)
-  ADD_PROJECT_DEPENDENCY(dynamic-graph-python 3.0.0 REQUIRED PKG_CONFIG_REQUIRES "dynamic-graph-python >= 3.0.0")
+  STRING(REGEX REPLACE "-" "_" PYTHON_DIR ${CUSTOM_HEADER_DIR})
+  ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED
+    PKG_CONFIG_REQUIRES dynamic-graph-python)
   SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 SEARCH_FOR_BOOST()
-ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES eigen3)
 
-SET(DOXYGEN_USE_MATHJAX YES)
+# Verbosity level
+IF(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
+  ADD_DEFINITIONS(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
+ENDIF(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
+
+# Main Library
+SET(${PROJECT_NAME}_HEADERS
+  include/${CUSTOM_HEADER_DIR}/abstract-sot-external-interface.hh
+  include/${CUSTOM_HEADER_DIR}/additional-functions.hh
+  include/${CUSTOM_HEADER_DIR}/api.hh
+  include/${CUSTOM_HEADER_DIR}/binary-int-to-uint.hh
+  include/${CUSTOM_HEADER_DIR}/binary-op.hh
+  include/${CUSTOM_HEADER_DIR}/causal-filter.hh
+  include/${CUSTOM_HEADER_DIR}/clamp-workspace.hh
+  include/${CUSTOM_HEADER_DIR}/com-freezer.hh
+  include/${CUSTOM_HEADER_DIR}/contiifstream.hh
+  include/${CUSTOM_HEADER_DIR}/debug.hh
+  include/${CUSTOM_HEADER_DIR}/derivator.hh
+  include/${CUSTOM_HEADER_DIR}/device.hh
+  include/${CUSTOM_HEADER_DIR}/double-constant.hh
+  include/${CUSTOM_HEADER_DIR}/event.hh
+  include/${CUSTOM_HEADER_DIR}/exception-abstract.hh
+  include/${CUSTOM_HEADER_DIR}/exception-dynamic.hh
+  include/${CUSTOM_HEADER_DIR}/exception-factory.hh
+  include/${CUSTOM_HEADER_DIR}/exception-feature.hh
+  include/${CUSTOM_HEADER_DIR}/exception-signal.hh
+  include/${CUSTOM_HEADER_DIR}/exception-task.hh
+  include/${CUSTOM_HEADER_DIR}/exception-tools.hh
+  include/${CUSTOM_HEADER_DIR}/exp-moving-avg.hh
+  include/${CUSTOM_HEADER_DIR}/factory.hh
+  include/${CUSTOM_HEADER_DIR}/feature-1d.hh
+  include/${CUSTOM_HEADER_DIR}/feature-abstract.hh
+  include/${CUSTOM_HEADER_DIR}/feature-generic.hh
+  include/${CUSTOM_HEADER_DIR}/feature-joint-limits.hh
+  include/${CUSTOM_HEADER_DIR}/feature-line-distance.hh
+  include/${CUSTOM_HEADER_DIR}/feature-point6d-relative.hh
+  include/${CUSTOM_HEADER_DIR}/feature-point6d.hh
+  include/${CUSTOM_HEADER_DIR}/feature-pose.hh
+  include/${CUSTOM_HEADER_DIR}/feature-posture.hh
+  include/${CUSTOM_HEADER_DIR}/feature-task.hh
+  include/${CUSTOM_HEADER_DIR}/feature-vector3.hh
+  include/${CUSTOM_HEADER_DIR}/feature-visual-point.hh
+  include/${CUSTOM_HEADER_DIR}/filter-differentiator.hh
+  include/${CUSTOM_HEADER_DIR}/fir-filter.hh
+  include/${CUSTOM_HEADER_DIR}/flags.hh
+  include/${CUSTOM_HEADER_DIR}/gain-adaptive.hh
+  include/${CUSTOM_HEADER_DIR}/gain-hyperbolic.hh
+  include/${CUSTOM_HEADER_DIR}/gripper-control.hh
+  include/${CUSTOM_HEADER_DIR}/integrator-abstract.hh
+  include/${CUSTOM_HEADER_DIR}/integrator-euler.hh
+  include/${CUSTOM_HEADER_DIR}/joint-limitator.hh
+  include/${CUSTOM_HEADER_DIR}/kalman.hh
+  include/${CUSTOM_HEADER_DIR}/latch.hh
+  include/${CUSTOM_HEADER_DIR}/macros-signal.hh
+  include/${CUSTOM_HEADER_DIR}/mailbox-vector.hh
+  include/${CUSTOM_HEADER_DIR}/mailbox.hh
+  include/${CUSTOM_HEADER_DIR}/mailbox.hxx
+  include/${CUSTOM_HEADER_DIR}/matrix-constant.hh
+  include/${CUSTOM_HEADER_DIR}/matrix-geometry.hh
+  include/${CUSTOM_HEADER_DIR}/matrix-svd.hh
+  include/${CUSTOM_HEADER_DIR}/memory-task-sot.hh
+  include/${CUSTOM_HEADER_DIR}/motion-period.hh
+  include/${CUSTOM_HEADER_DIR}/multi-bound.hh
+  include/${CUSTOM_HEADER_DIR}/neck-limitation.hh
+  include/${CUSTOM_HEADER_DIR}/op-point-modifier.hh
+  include/${CUSTOM_HEADER_DIR}/parameter-server.hh
+  include/${CUSTOM_HEADER_DIR}/periodic-call.hh
+  include/${CUSTOM_HEADER_DIR}/periodic-call-entity.hh
+  include/${CUSTOM_HEADER_DIR}/pool.hh
+  include/${CUSTOM_HEADER_DIR}/reader.hh
+  include/${CUSTOM_HEADER_DIR}/robot-simu.hh
+  include/${CUSTOM_HEADER_DIR}/robot-utils.hh
+  include/${CUSTOM_HEADER_DIR}/sot.hh
+  include/${CUSTOM_HEADER_DIR}/stop-watch.hh
+  include/${CUSTOM_HEADER_DIR}/switch.hh
+  include/${CUSTOM_HEADER_DIR}/task.hh
+  include/${CUSTOM_HEADER_DIR}/task-abstract.hh
+  include/${CUSTOM_HEADER_DIR}/task-conti.hh
+  include/${CUSTOM_HEADER_DIR}/task-pd.hh
+  include/${CUSTOM_HEADER_DIR}/task-unilateral.hh
+  include/${CUSTOM_HEADER_DIR}/time-stamp.hh
+  include/${CUSTOM_HEADER_DIR}/timer.hh
+  include/${CUSTOM_HEADER_DIR}/trajectory.hh
+  include/${CUSTOM_HEADER_DIR}/unary-op.hh
+  include/${CUSTOM_HEADER_DIR}/utils-windows.hh
+  include/${CUSTOM_HEADER_DIR}/variadic-op.hh
+  include/${CUSTOM_HEADER_DIR}/vector-constant.hh
+  include/${CUSTOM_HEADER_DIR}/vector-to-rotation.hh
+  include/${CUSTOM_HEADER_DIR}/visual-point-projecter.hh
+  )
 
-SET(PKG_CONFIG_ADDITIONAL_VARIABLES
-  ${PKG_CONFIG_ADDITIONAL_VARIABLES}
-  plugindirname
-  plugindir
+SET(${PROJECT_NAME}_SOURCES
+  src/debug/debug.cpp
+  src/debug/contiifstream.cpp
+  src/exception/exception-abstract.cpp
+  src/exception/exception-dynamic.cpp
+  src/exception/exception-factory.cpp
+  src/exception/exception-feature.cpp
+  src/exception/exception-signal.cpp
+  src/exception/exception-task.cpp
+  src/exception/exception-tools.cpp
+  src/signal/signal-cast.cpp
+  src/feature/feature-abstract.cpp
+  src/task/task-abstract.cpp
+  src/task/multi-bound.cpp
+  src/sot/flags.cpp
+  src/sot/memory-task-sot.cpp
+  src/factory/pool.cpp
+  src/tools/utils-windows
+  src/tools/periodic-call
+  src/tools/device
+  src/tools/trajectory
+  src/tools/robot-utils
+  src/matrix/matrix-svd
+  src/filters/causal-filter
+  src/utils/stop-watch
   )
 
-# Specific to PKG module
-# FIXME: to be changed into lib/dynamic-graph
-# to avoid name collision when installing dynamic-graph in /usr.
-SET(PLUGINDIR "${CMAKE_INSTALL_FULL_LIBDIR}/plugin")
+ADD_LIBRARY(${PROJECT_NAME} SHARED
+  ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${Boost_LIBRARIES}
+  dynamic-graph::dynamic-graph pinocchio::pinocchio)
+
+IF(SUFFIX_SO_VERSION)
+  SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+ENDIF(SUFFIX_SO_VERSION)
 
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  # Extra macros for sot-core
-  install(FILES "src/sot-coreMacros.cmake"
-    DESTINATION "${CONFIG_INSTALL_DIR}")
+  INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
-set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}
-include(\"\${CMAKE_CURRENT_LIST_DIR}/sot-coreMacros.cmake\")")
-
-PKG_CONFIG_APPEND_LIBS("sot-core")
-
-# Search for dependencies.
-# Boost
-SET(BOOST_COMPONENTS
-  thread filesystem program_options
-  unit_test_framework system regex )
-
-ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED PKG_CONFIG_REQUIRES dynamic-graph)
-ADD_PROJECT_DEPENDENCY(pinocchio 2.3.1 REQUIRED PKG_CONFIG_REQUIRES "pinocchio >= 2.3.1")
-
-SEARCH_FOR_BOOST()
-
-ADD_SUBDIRECTORY(include)
 ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(unitTesting)
-#ADD_SUBDIRECTORY(doc)
+ADD_SUBDIRECTORY(doc)
 
-# **********************************
-# Robot_utils_sot_py PYTHON module *
-# **********************************
-IF(BUILD_PYTHON_INTERFACE)
-  IF(NOT CMAKE_VERSION VERSION_LESS "3.12" AND NOT WIN32)
-    Python_add_library(robot_utils_sot_py MODULE src/tools/robot-utils-py.cpp)
-  ELSE(NOT CMAKE_VERSION VERSION_LESS "3.12" AND NOT WIN32)
-    PYTHON_ADD_MODULE(robot_utils_sot_py src/tools/robot-utils-py.cpp)
-  ENDIF()
-  TARGET_LINK_LIBRARIES(robot_utils_sot_py
-    ${Boost_LIBRARIES}
-    ${PYTHON_LIBRARIES} ${LIBRARY_NAME}
-    dynamic-graph::dynamic-graph
-    pinocchio::pinocchio
-    )
-  TARGET_INCLUDE_DIRECTORIES(robot_utils_sot_py PUBLIC pinocchio::pinocchio)
-  TARGET_LINK_BOOST_PYTHON(robot_utils_sot_py)
-  INSTALL(TARGETS robot_utils_sot_py DESTINATION ${PYTHON_INSTALL_DIR})
-ENDIF(BUILD_PYTHON_INTERFACE)
-
-# We do not want the project to be finalized if this is
-# to install only the  python interface.
+PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  SETUP_PROJECT_PACKAGE_FINALIZE()
+  INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-
-get_cmake_property(_variableNames VARIABLES)
-list(SORT _variableNames)
-foreach(_variableName ${_variableNames})
-    message(STATUS "${_variableName}=${${_variableName}}")
-endforeach()

cmake @ 321eb1cc

-Subproject commit 4514454f5f9462047b5c29f61b6c3e0db731c416
+Subproject commit 321eb1ccf1d94570eb564f3659b13ef3ef82239e

doc/CMakeLists.txt

@@ -6,7 +6,6 @@
 # get the python script install path
 
 IF(BUILD_PYTHON_INTERFACE)
-  INCLUDE(../cmake/sphinx.cmake)
   SPHINX_SETUP()
   SPHINX_FINALIZE()
   IF(INSTALL_DOCUMENTATION)

include/CMakeLists.txt

 # Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
-
-SET(NEWHEADERS
-  sot/core/abstract-sot-external-interface.hh
-  sot/core/additional-functions.hh
-  sot/core/api.hh
-  sot/core/binary-int-to-uint.hh
-  sot/core/binary-op.hh
-  sot/core/causal-filter.hh
-  sot/core/clamp-workspace.hh
-  sot/core/com-freezer.hh
-  sot/core/contiifstream.hh
-  sot/core/debug.hh
-  sot/core/derivator.hh
-  sot/core/device.hh
-  sot/core/double-constant.hh
-  sot/core/event.hh
-  sot/core/exception-abstract.hh
-  sot/core/exception-dynamic.hh
-  sot/core/exception-factory.hh
-  sot/core/exception-feature.hh
-  sot/core/exception-signal.hh
-  sot/core/exception-task.hh
-  sot/core/exception-tools.hh
-  sot/core/exp-moving-avg.hh
-  sot/core/factory.hh
-  sot/core/feature-1d.hh
-  sot/core/feature-abstract.hh
-  sot/core/feature-generic.hh
-  sot/core/feature-joint-limits.hh
-  sot/core/feature-line-distance.hh
-  sot/core/feature-point6d-relative.hh
-  sot/core/feature-point6d.hh
-  sot/core/feature-pose.hh
-  sot/core/feature-posture.hh
-  sot/core/feature-task.hh
-  sot/core/feature-vector3.hh
-  sot/core/feature-visual-point.hh
-  sot/core/filter-differentiator.hh
-  sot/core/fir-filter.hh
-  sot/core/flags.hh
-  sot/core/gain-adaptive.hh
-  sot/core/gain-hyperbolic.hh
-  sot/core/gripper-control.hh
-  sot/core/integrator-abstract.hh
-  sot/core/integrator-euler.hh
-  sot/core/joint-limitator.hh
-  sot/core/kalman.hh
-  sot/core/latch.hh
-  sot/core/macros-signal.hh
-  sot/core/mailbox-vector.hh
-  sot/core/mailbox.hh
-  sot/core/mailbox.hxx
-  sot/core/matrix-constant.hh
-  sot/core/matrix-geometry.hh
-  sot/core/matrix-svd.hh
-  sot/core/memory-task-sot.hh
-  sot/core/motion-period.hh
-  sot/core/multi-bound.hh
-  sot/core/neck-limitation.hh
-  sot/core/op-point-modifier.hh
-  sot/core/parameter-server.hh
-  sot/core/periodic-call.hh
-  sot/core/periodic-call-entity.hh
-  sot/core/pool.hh
-  sot/core/reader.hh
-  sot/core/robot-simu.hh
-  sot/core/robot-utils.hh
-  sot/core/sot.hh
-  sot/core/stop-watch.hh
-  sot/core/switch.hh
-  sot/core/task.hh
-  sot/core/task-abstract.hh
-  sot/core/task-conti.hh
-  sot/core/task-pd.hh
-  sot/core/task-unilateral.hh
-  sot/core/time-stamp.hh
-  sot/core/timer.hh
-  sot/core/trajectory.hh
-  sot/core/unary-op.hh
-  sot/core/utils-windows.hh
-  sot/core/variadic-op.hh
-  sot/core/vector-constant.hh
-  sot/core/vector-to-rotation.hh
-  sot/core/visual-point-projecter.hh
-  )
-IF (NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  INSTALL(FILES ${NEWHEADERS}
-    DESTINATION include/sot/core
-    PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-    )
-ENDIF (NOT INSTALL_PYTHON_INTERFACE_ONLY)

src/CMakeLists.txt

-# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
+# Copyright 2010, 2020, François Bleibel, Olivier Stasse, Guilhem Saurel, JRL, CNRS/AIST, LAAS-CNRS
 
-# Verbosity level
-IF(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
-  ADD_DEFINITIONS(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
-ENDIF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
-
-#define DEBUG=2 if we're building in debug mode (what for?)
-IF("${CMAKE_BUILD_TYPE}" STREQUAL DEBUG)
-  ADD_DEFINITIONS(-DDEBUG=2)
-ENDIF("${CMAKE_BUILD_TYPE}" STREQUAL DEBUG)
-
-IF(UNIX)
-  ADD_DEFINITIONS(-pthread)
-ENDIF(UNIX)
-
-# The main library name
-SET(SOTCORE_LIB_NAME ${PROJECT_NAME})
-
-#This project will create many plugins as shared libraries, listed here
 SET(plugins
   sot/sot
 
@@ -83,7 +65,6 @@ SET(plugins
 
   control/control-gr
   control/control-pd
-
   )
 
 # TODO
@@ -98,195 +79,84 @@ IF(WIN32)
     )
 ENDIF(WIN32)
 
-set(ADDITIONAL_feature-task_LIBS feature-generic task)
-set(ADDITIONAL_feature-point6d-relative_LIBS feature-point6d)
-
-set(ADDITIONAL_sot_LIBS task)
-
-set(ADDITIONAL_sequencer_LIBS sot)
-
-set(ADDITIONAL_task-conti_LIBS task)
-set(ADDITIONAL_task-pd_LIBS task)
-set(ADDITIONAL_task-unilateral_LIBS task)
-
-#Build sot-core
-SET(LIBRARY_NAME ${SOTCORE_LIB_NAME})
-
-#sot-core library sources
-SET(${LIBRARY_NAME}_SOURCES
-  debug/debug.cpp
-  debug/contiifstream.cpp
-
-  exception/exception-abstract.cpp
-  exception/exception-dynamic.cpp
-  exception/exception-factory.cpp
-  exception/exception-feature.cpp
-  exception/exception-signal.cpp
-  exception/exception-task.cpp
-  exception/exception-tools.cpp
-
-  signal/signal-cast.cpp
-
-  feature/feature-abstract.cpp
-
-  task/task-abstract.cpp
-  task/multi-bound.cpp
-
-  sot/flags.cpp
-  sot/memory-task-sot.cpp
-
-  factory/pool.cpp
-
-  tools/utils-windows
-  tools/periodic-call
-  tools/device
-  tools/trajectory
-  tools/robot-utils
-
-  matrix/matrix-svd
-
-  filters/causal-filter
-
-  utils/stop-watch
-
-  )
+set(feature-task_deps feature-generic task)
+set(feature-point6d-relative_deps feature-point6d)
+set(sot_deps task)
+set(sequencer_deps sot)
+set(task-conti_deps task)
+set(task-pd_deps task)
+set(task-unilateral_deps task)
 
-ADD_LIBRARY(${LIBRARY_NAME}
-  SHARED
-  ${${LIBRARY_NAME}_SOURCES})
-
-target_include_directories(${LIBRARY_NAME}
-  PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/../include>
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/>
-  INTERFACE
-  $<INSTALL_INTERFACE:include>
-)
-
-IF(SUFFIX_SO_VERSION)
-  SET_TARGET_PROPERTIES(${LIBRARY_NAME}
-    PROPERTIES
-    SOVERSION ${PROJECT_VERSION})
-ENDIF()
-
-target_link_libraries(${LIBRARY_NAME} dynamic-graph::dynamic-graph pinocchio::pinocchio ${Boost_LIBRARIES})
-
-IF(UNIX)
-  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
-ENDIF(UNIX)
-
-IF(UNIX AND NOT APPLE)
-  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pthread)
-ENDIF(UNIX AND NOT APPLE)
-
-IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  INSTALL(TARGETS ${LIBRARY_NAME}
-    EXPORT ${TARGETS_EXPORT_NAME}
-    PUBLIC_HEADER
-    INCLUDES DESTINATION include
-    LIBRARY DESTINATION lib
-    ARCHIVE DESTINATION lib
-    )
-ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-
-#Plugins compilation, link, and installation
-#Compiles a plugin. The plugin library is ${LIBRARY_NAME}
 FOREACH(plugin ${plugins})
-  #retrieve plugin name
   GET_FILENAME_COMPONENT(LIBRARY_NAME ${plugin} NAME)
+  ADD_LIBRARY(${LIBRARY_NAME} SHARED ${plugin})
 
-  # only one source file per plugin
-  ADD_LIBRARY(${LIBRARY_NAME}
-    SHARED
-    ${plugin}.cpp)
-
-  #remove the "lib" prefix from the plugin output name
-  SET_TARGET_PROPERTIES(${LIBRARY_NAME}
-    PROPERTIES
-    PREFIX ""
-    INSTALL_RPATH ${PLUGINDIR}
-    )
-  IF(${SUFFIX_SO_VERSION})
-    SET_TARGET_PROPERTIES(${LIBRARY_NAME}
-      PROPERTIES
-      SOVERSION ${PROJECT_VERSION}
-      )
-  ENDIF()
-
-  target_link_libraries(${LIBRARY_NAME}
-    ${SOTCORE_LIB_NAME}
-    ${Boost_LIBRARIES}
-    dynamic-graph::dynamic-graph
-    pinocchio::pinocchio)
+  IF(SUFFIX_SO_VERSION)
+    SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+  ENDIF(SUFFIX_SO_VERSION)
 
-  ADD_DEPENDENCIES(${LIBRARY_NAME} ${SOTCORE_LIB_NAME})
+  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${PROJECT_NAME} ${${LIBRARY_NAME}_deps})
 
-  IF(ADDITIONAL_${LIBRARY_NAME}_LIBS)
-    ADD_DEPENDENCIES(${LIBRARY_NAME} ${ADDITIONAL_${LIBRARY_NAME}_LIBS})
-    TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${ADDITIONAL_${LIBRARY_NAME}_LIBS})
-  ENDIF(ADDITIONAL_${LIBRARY_NAME}_LIBS)
-
-  # Linux dynamic loading library flags
-  IF(UNIX)
-    TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
-  ENDIF(UNIX)
+  IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+    INSTALL(TARGETS ${LIBRARY_NAME} EXPORT ${TARGETS_EXPORT_NAME}
+      DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
+  ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
-  # build python submodule
   IF(BUILD_PYTHON_INTERFACE)
     STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
-    DYNAMIC_GRAPH_PYTHON_MODULE("sot/core/${PYTHON_LIBRARY_NAME}"
-      ${LIBRARY_NAME}
-      sot-core-${PYTHON_LIBRARY_NAME}-wrap
-      )
+    DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}/${PYTHON_LIBRARY_NAME}"
+      ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap)
   ENDIF(BUILD_PYTHON_INTERFACE)
-
-  IF (NOT INSTALL_PYTHON_INTERFACE_ONLY)
-    # Install plugins
-    INSTALL(TARGETS ${LIBRARY_NAME}
-      EXPORT ${TARGETS_EXPORT_NAME}
-      PUBLIC_HEADER
-      INCLUDES DESTINATION include
-      LIBRARY DESTINATION ${PLUGINDIR}
-      )
-  ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-
 ENDFOREACH(plugin)
 
 IF(BUILD_PYTHON_INTERFACE)
-  SET(NO_INSTALL_OF_INIT_PY 0)
-  DYNAMIC_GRAPH_PYTHON_MODULE("sot/core" ${SOTCORE_LIB_NAME} wrap
-    ${NO_INSTALL_OF_INIT_PY})
-
-  # Install empty __init__.py files in intermediate directories.
+  DYNAMIC_GRAPH_PYTHON_MODULE(${PYTHON_DIR} ${PROJECT_NAME} wrap)
 
   INSTALL(FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/__init__.py
-    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot
+    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot)
+
+  SET(${PROJECT_NAME}_PYTHON
+    __init__.py
+    math_small_entities.py
+    feature_position.py
+    feature_position_relative.py
+    matrix_util.py
+    meta_tasks.py
+    meta_task_6d.py
+    meta_tasks_kine.py
+    meta_tasks_kine_relative.py
+    meta_task_posture.py
+    meta_task_visual_point.py
     )
 
-  INSTALL(FILES
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/__init__.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/math_small_entities.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/feature_position.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/feature_position_relative.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/matrix_util.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_tasks.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_task_6d.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_tasks_kine.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_tasks_kine_relative.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_task_posture.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_task_visual_point.py
-    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/core
-    )
-  INSTALL(FILES
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/__init__.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/attime.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/history.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/thread_interruptible_loop.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/viewer_loger.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/viewer_helper.py
-    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/core/utils
+  FOREACH(file ${${PROJECT_NAME}_PYTHON})
+    PYTHON_INSTALL_ON_SITE("dynamic_graph/${PYTHON_DIR}" ${file})
+  ENDFOREACH(file ${${PROJECT_NAME}_PYTHON})
+
+  SET(${PY_NAME}_PYTHON_UTILS
+    __init__.py
+    attime.py