[cmake][python] Define flag in order to control urdf inclusion

CMakeLists.txt

@@ -136,11 +136,13 @@ SET(HEADERS
  )
 
 IF(URDFDOM_FOUND)
-  LIST(APPEND HEADERS multibody/parser/urdf.hpp)
   SET(${PROJECT_NAME}_MULTIBODY_PARSER_HEADERS
     ${${PROJECT_NAME}_MULTIBODY_PARSER_HEADERS}
     multibody/parser/urdf.hpp
     )
+  LIST(APPEND HEADERS
+    ${${PROJECT_NAME}_MULTIBODY_PARSER_HEADERS}
+    )
 ENDIF(URDFDOM_FOUND)
 
 IF(LUA5_1_FOUND)

src/CMakeLists.txt

@@ -75,6 +75,9 @@ IF(EIGENPY_FOUND)
   TARGET_LINK_LIBRARIES(${PYWRAP} ${Boost_LIBRARIES} ${PROJECT_NAME})
   SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/python/${PROJECT_NAME}")
+  IF(URDFDOM_FOUND)
+    ADD_TARGET_CFLAGS (${PYWRAP} "-DWITH_URDFDOM") 
+  ENDIF(URDFDOM_FOUND)
   IF(LUA5_1_FOUND)
     ADD_TARGET_CFLAGS (${PYWRAP} "-DWITH_LUA") 
   ENDIF(LUA5_1_FOUND)

src/python/parsers.hpp

@@ -7,7 +7,9 @@
 #include "pinocchio/python/model.hpp"
 #include "pinocchio/python/data.hpp"
 
-#include "pinocchio/multibody/parser/urdf.hpp"
+#ifdef WITH_URDFDOM
+  #include "pinocchio/multibody/parser/urdf.hpp"
+#endif
 
 #ifdef WITH_LUA
   #include "pinocchio/multibody/parser/lua.hpp"
@@ -19,6 +21,8 @@ namespace se3
   {
     struct ParsersPythonVisitor
     {
+
+#ifdef WITH_URDFDOM
       static ModelHandler buildModelFromUrdf( const std::string & filename,
 					      bool ff )
       {
@@ -26,6 +30,7 @@ namespace se3
 	*model = se3::urdf::buildModel(filename,ff);
 	return ModelHandler(model,true);
       }
+#endif
 
 #ifdef WITH_LUA
       static ModelHandler buildModelFromLua(const std::string & filename,
@@ -42,11 +47,14 @@ namespace se3
       /* --- Expose --------------------------------------------------------- */
       static void expose()
       {
+        
+#ifdef WITH_URDFDOM
 	bp::def("buildModelFromUrdf",buildModelFromUrdf,
 		bp::args("Filename (string)",
 			 "Free flyer (bool, false for a fixed robot)"),
 		"Parse the urdf file given in input and return a proper pinocchio model "
 		"(remember to create the corresponding data structure).");
+#endif
 
 #ifdef WITH_LUA
         bp::def("buildModelFromLua",buildModelFromLua,