[CMake] Rework packaging

src/CMakeLists.txt

@@ -48,8 +48,13 @@ SET(${PROJECT_NAME}_MULTIBODY_SOURCES
   multibody/parser/sample-models.cpp
   )
 
+SET(${PROJECT_NAME}_MULTIBODY_PARSER_PYTHON_SOURCES
+  multibody/parser/python.cpp
+  )
+
 SET(${PROJECT_NAME}_SOURCES
   ${${PROJECT_NAME}_MULTIBODY_SOURCES}
+  ${${PROJECT_NAME}_MULTIBODY_PARSER_PYTHON_SOURCES}
   )
 
 IF(LUA5_1_FOUND)
@@ -60,6 +65,35 @@ IF(LUA5_1_FOUND)
   LIST(APPEND ${PROJECT_NAME}_SOURCES ${${PROJECT_NAME}_MULTIBODY_PARSER_LUA_SOURCES})
 ENDIF(LUA5_1_FOUND)
 
+IF(UNIX)
+    # Create target libpinocchio.so
+    ADD_LIBRARY ( ${PROJECT_NAME} SHARED ${HEADERS} ${${PROJECT_NAME}_SOURCES} )
+    SET_TARGET_PROPERTIES( ${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
+    PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} eigen3)
+    TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${Boost_LIBRARIES})
+    TARGET_LINK_BOOST_PYTHON(${PROJECT_NAME})
+
+    IF(URDFDOM_FOUND)
+      PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} urdfdom)
+      IF(HPP_FCL_FOUND)
+        PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} assimp)
+      ENDIF(HPP_FCL_FOUND)
+    ENDIF(URDFDOM_FOUND)
+
+    IF(HPP_FCL_FOUND)
+      PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} hpp-fcl)
+      ADD_TARGET_CFLAGS (${PROJECT_NAME} "-DWITH_HPP_FCL")
+    ENDIF(HPP_FCL_FOUND)
+
+    IF(LUA5_1_FOUND)
+      PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} lua5.1)
+    ENDIF(LUA5_1_FOUND)
+
+    ADD_HEADER_GROUP(HEADERS)
+    ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)
+
+    INSTALL(TARGETS ${PROJECT_NAME} DESTINATION lib)
+ENDIF(UNIX)
 
 # ----------------------------------------------------
 # --- PYTHON -----------------------------------------