Merge pull request #1067 from jcarpent/devel

Full CMake export of Pinocchio

.github/workflows/ccpp.yml

@@ -40,4 +40,11 @@ jobs:
         export CTEST_OUTPUT_ON_FAILURE=1
         make test
         sudo make install
+        cd ../unittest/packaging
+        mkdir build
+        cd build
+        export CMAKE_PREFIX_PATH=/usr/local
+        cmake ..
+        make
+        cd ../../../build
         sudo make uninstall

.travis.yml

 language: generic
-sudo: required
+os: linux
 git:
   depth: false
 compiler:
@@ -19,9 +19,6 @@ env:
     - BUILD_WITH_CATKIN_SUPPORT=false
     - CTEST_OUTPUT_ON_FAILURE=1
 
-notifications:
-email:
-  - pinocchio-dev@laas.fr
 branches:
   only:
     - master
@@ -51,8 +48,6 @@ jobs:
         - TRAVIS_PYTHON_VERSION=35
       python: 3.5
 
-allow_failures:
-  - compiler:
 before_install: ./travis_custom/custom_before_install
 install:
   - pip install --user pyopenssl

CMakeLists.txt

@@ -9,6 +9,8 @@ SET(PROJECT_NAME pinocchio)
 SET(PROJECT_DESCRIPTION "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives")
 SET(PROJECT_URL "http://github.com/stack-of-tasks/pinocchio")
 SET(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
+SET(PROJECT_USE_CMAKE_EXPORT TRUE)
+SET(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
 
 # Disable -Werror on Unix for now.
 SET(CXX_DISABLE_WERROR True)
@@ -59,12 +61,22 @@ OPTION(BUILD_WITH_AUTODIFF_SUPPORT "Build the library with the Automatic Differe
 OPTION(BUILD_WITH_CASADI_SUPPORT "Build the library with the CASADI support" OFF)
 OPTION(BUILD_WITH_CODEGEN_SUPPORT "Build the library with the Code Generation support" OFF)
 
-OPTION (INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
+OPTION(INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
 
-IF (INITIALIZE_WITH_NAN)
+IF(BUILD_WITH_COLLISION_SUPPORT)
+  SET(BUILD_WITH_HPP_FCL_SUPPORT TRUE)
+ENDIF()
+IF(BUILD_WITH_AUTODIFF_SUPPORT)
+  SET(BUILD_WITH_CPPAD_SUPPORT TRUE)
+ENDIF()
+IF(BUILD_WITH_CODEGEN_SUPPORT)
+  SET(BUILD_WITH_CPPAD_CODEGEN_SUPPORT TRUE)
+ENDIF()
+
+IF(INITIALIZE_WITH_NAN)
   MESSAGE (STATUS "Initialize with NaN all the Eigen entries.")
   ADD_DEFINITIONS(-DEIGEN_INITIALIZE_MATRICES_BY_NAN)
-ENDIF (INITIALIZE_WITH_NAN)
+ENDIF(INITIALIZE_WITH_NAN)
 
 MACRO(TAG_LIBRARY_VERSION target)
   SET_TARGET_PROPERTIES(${target} PROPERTIES SOVERSION ${PROJECT_VERSION})
@@ -79,17 +91,21 @@ ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
 
 IF(BUILD_WITH_URDF_SUPPORT)
   ADD_REQUIRED_DEPENDENCY("urdfdom >= 0.2.0")
+  ADD_DEFINITIONS(-DPINOCCHIO_WITH_URDFDOM)
+  LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_URDFDOM")
 ENDIF(BUILD_WITH_URDF_SUPPORT)
 
-IF(BUILD_WITH_COLLISION_SUPPORT)
+IF(BUILD_WITH_HPP_FCL_SUPPORT)
+  ADD_DEFINITIONS(-DPINOCCHIO_WITH_HPP_FCL)
+  LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_HPP_FCL")
   ADD_REQUIRED_DEPENDENCY("hpp-fcl >= 1.0.0")
-ENDIF(BUILD_WITH_COLLISION_SUPPORT)
+ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 
 IF(BUILD_WITH_AUTODIFF_SUPPORT)
   ADD_REQUIRED_DEPENDENCY("cppad >= 20180000.0")
 ENDIF(BUILD_WITH_AUTODIFF_SUPPORT)
 
-IF(CPPAD_FOUND AND BUILD_WITH_AUTODIFF_SUPPORT)
+IF(BUILD_WITH_AUTODIFF_SUPPORT)
   ADD_DEFINITIONS(-DPINOCCHIO_WITH_CPPAD_SUPPORT)
   PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_WITH_CPPAD_SUPPORT")
   IF(NOT ${CPPAD_VERSION} VERSION_GREATER "3.3.0")
@@ -98,13 +114,13 @@ IF(CPPAD_FOUND AND BUILD_WITH_AUTODIFF_SUPPORT)
   ENDIF(NOT ${CPPAD_VERSION} VERSION_GREATER "3.3.0")
 
   IF(BUILD_WITH_CODEGEN_SUPPORT)
-    ADD_OPTIONAL_DEPENDENCY("cppadcg")
+    ADD_REQUIRED_DEPENDENCY("cppadcg")
   ENDIF(BUILD_WITH_CODEGEN_SUPPORT)
   IF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT)
     ADD_DEFINITIONS(-DPINOCCHIO_WITH_CPPADCG_SUPPORT)
     PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_WITH_CPPADCG_SUPPORT")
   ENDIF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT)
-ENDIF(CPPAD_FOUND AND BUILD_WITH_AUTODIFF_SUPPORT)
+ENDIF(BUILD_WITH_AUTODIFF_SUPPORT)
 
 IF(BUILD_WITH_CASADI_SUPPORT)
   ADD_REQUIRED_DEPENDENCY("casadi >= 3.4.5")
@@ -116,7 +132,7 @@ IF(CASADI_FOUND AND BUILD_WITH_CASADI_SUPPORT)
 ENDIF(CASADI_FOUND AND BUILD_WITH_CASADI_SUPPORT)
 
 # Special care of urdfdom version
-IF(URDFDOM_FOUND AND BUILD_WITH_URDF_SUPPORT)
+IF(BUILD_WITH_URDF_SUPPORT)
   IF(${URDFDOM_VERSION} VERSION_LESS "0.3.0")
     ADD_DEFINITIONS(-DPINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME)
     PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME")
@@ -133,7 +149,7 @@ IF(URDFDOM_FOUND AND BUILD_WITH_URDF_SUPPORT)
     ADD_DEFINITIONS(-DPINOCCHIO_URDFDOM_USE_STD_SHARED_PTR)
     PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_URDFDOM_USE_STD_SHARED_PTR")
   ENDIF(${URDFDOM_VERSION} VERSION_GREATER "0.4.2")
-ENDIF(URDFDOM_FOUND AND BUILD_WITH_URDF_SUPPORT)
+ENDIF(BUILD_WITH_URDF_SUPPORT)
 
 SET(BOOST_REQUIRED_COMPONENTS filesystem serialization system)
 SET(BOOST_BUILD_COMPONENTS unit_test_framework)
@@ -142,7 +158,6 @@ SET(BOOST_OPTIONAL_COMPONENTS "")
 IF(BUILD_PYTHON_INTERFACE)
   SET(BOOST_OPTIONAL_COMPONENTS ${BOOST_OPTIONAL_COMPONENTS} python)
   FINDPYTHON()
-  INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIRS}) 
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 SET(BOOST_COMPONENTS ${BOOST_REQUIRED_COMPONENTS} ${BOOST_OPTIONAL_COMPONENTS} ${BOOST_BUILD_COMPONENTS})
@@ -168,10 +183,7 @@ FILE(GLOB_RECURSE HEADERS
      ${PROJECT_SOURCE_DIR}/src/*.hxx 
      ) 
 
-IF(URDFDOM_FOUND)
-  ADD_DEFINITIONS(-DPINOCCHIO_WITH_URDFDOM)
-  LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_URDFDOM")
-ELSE(URDFDOM_FOUND)
+IF(NOT BUILD_WITH_URDF_SUPPORT)
   LIST(REMOVE_ITEM HEADERS
     ${PROJECT_SOURCE_DIR}/src/parsers/urdf.hpp
     ${PROJECT_SOURCE_DIR}/src/parsers/urdf/model.hxx
@@ -179,17 +191,13 @@ ELSE(URDFDOM_FOUND)
     ${PROJECT_SOURCE_DIR}/src/parsers/urdf/utils.hpp
     ${PROJECT_SOURCE_DIR}/src/parsers/urdf/types.hpp
     )
-ENDIF(URDFDOM_FOUND)
+ENDIF(NOT BUILD_WITH_URDF_SUPPORT)
 
-
-IF(HPP_FCL_FOUND)
-  ADD_DEFINITIONS(-DPINOCCHIO_WITH_HPP_FCL)
-  LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_HPP_FCL")
-ELSE(HPP_FCL_FOUND)
+IF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
   LIST(REMOVE_ITEM HEADERS 
     ${PROJECT_SOURCE_DIR}/src/spatial/fcl-pinocchio-conversions.hpp
     )
-ENDIF(HPP_FCL_FOUND)
+ENDIF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
 
 LIST(APPEND HEADERS macros.hpp)
 
@@ -249,7 +257,26 @@ ADD_SUBDIRECTORY(examples)
 ADD_SUBDIRECTORY(benchmark)
 
 # --- PACKAGING ----------------------------------------------------------------
-PKG_CONFIG_APPEND_LIBS (${PROJECT_NAME})
+IF(BUILD_WITH_URDF_SUPPORT)
+  SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_URDFDOM \"\")")
+ENDIF()
+IF(BUILD_WITH_HPP_FCL_SUPPORT)
+  SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_HPP_FCL \"\")")
+ENDIF()
+IF(BUILD_WITH_CPPAD_SUPPORT)
+  SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_CPPAD \"\")")
+ENDIF()
+IF(BUILD_WITH_CPPAD_CODEGEN_SUPPORT)
+  SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_CPPAD_CODEGEN \"\")")
+ENDIF()
+IF(BUILD_WITH_CASADI_SUPPORT)
+  SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_CASADI \"\")")
+ENDIF()
+IF(BUILD_PYTHON_INTERFACE)
+  SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_WITH_PYTHON_INTERFACE \"\")")
+ENDIF()
+
+PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
 PKG_CONFIG_APPEND_BOOST_LIBS(${BOOST_REQUIRED_COMPONENTS})
 
 FOREACH(cflags ${CFLAGS_DEPENDENCIES})

benchmark/CMakeLists.txt

@@ -19,7 +19,7 @@ MACRO(ADD_BENCH bench_name)
     SET(link_to_main_lib ${ARGV1})
     IF(link_to_main_lib)
       SET_TARGET_PROPERTIES(${bench_name} PROPERTIES COMPILE_DEFINITIONS PINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
-      TARGET_LINK_LIBRARIES(${bench_name} ${PROJECT_NAME})
+      TARGET_LINK_LIBRARIES(${bench_name} PUBLIC ${PROJECT_NAME})
       PKG_CONFIG_USE_DEPENDENCY(${bench_name} eigen3)
 
       IF(HPP_FCL_FOUND)
@@ -47,7 +47,7 @@ IF(CPPADCG_FOUND)
   ADD_BENCH(timings-cg TRUE)
   SET_PROPERTY(TARGET timings-cg PROPERTY CXX_STANDARD 11)
   PKG_CONFIG_USE_DEPENDENCY(timings-cg "cppadcg")
-  TARGET_LINK_LIBRARIES(timings-cg ${CMAKE_DL_LIBS})
+  TARGET_LINK_LIBRARIES(timings-cg PUBLIC ${CMAKE_DL_LIBS})
 ENDIF(CPPADCG_FOUND)
 
 # timings

bindings/python/CMakeLists.txt

 # 
-# Copyright (c) 2015-2019 CNRS INRIA
+# Copyright (c) 2015-2020 CNRS INRIA
 # Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 #
 
@@ -30,6 +30,7 @@ ENDFUNCTION(REMOVE_PATH_FROM_LIST)
 
 # --- PYTHON TARGET --- #
 IF(BUILD_PYTHON_INTERFACE)
+  INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIRS}) 
   ADD_CUSTOM_TARGET(python)
   SET_TARGET_PROPERTIES(python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
 
@@ -76,7 +77,7 @@ REMOVE_PATH_FROM_LIST("${${PROJECT_NAME}_PYTHON_HEADERS}" "${CMAKE_CURRENT_SOURC
 REMOVE_PATH_FROM_LIST("${${PROJECT_NAME}_PYTHON_SOURCES}" "${CMAKE_CURRENT_SOURCE_DIR}/" ${PROJECT_NAME}_PYTHON_SOURCES)
 
 # Python exposition of FCL
-IF(NOT HPP_FCL_FOUND)
+IF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
     multibody/fcl/contact.hpp
     multibody/fcl/collision-result.hpp
@@ -89,7 +90,7 @@ IF(NOT HPP_FCL_FOUND)
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
     multibody/fcl/expose-fcl.cpp
     )
-ENDIF(NOT HPP_FCL_FOUND)
+ENDIF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
 
 LIST(APPEND HEADERS ${${PROJECT_NAME}_PYTHON_HEADERS})
 
@@ -98,9 +99,9 @@ MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python"
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/spatial")
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/multibody")
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/multibody/joint")
-IF(HPP_FCL_FOUND)
+IF(BUILD_WITH_HPP_FCL_SUPPORT)
   MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/multibody/fcl")
-ENDIF(HPP_FCL_FOUND)
+ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/parsers")
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/serialization")
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/algorithm")
@@ -127,8 +128,8 @@ IF(BUILD_PYTHON_INTERFACE)
   ADD_SOURCE_GROUP(${PYWRAP}_SOURCES)
   PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} eigenpy)
 
-  TARGET_LINK_LIBRARIES(${PYWRAP} ${PROJECT_NAME})
-  TARGET_LINK_BOOST_PYTHON(${PYWRAP})
+  TARGET_LINK_LIBRARIES(${PYWRAP} PUBLIC ${PROJECT_NAME})
+  TARGET_LINK_BOOST_PYTHON(${PYWRAP} PUBLIC)
 
   IF(HPP_FCL_FOUND)
     PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} hpp-fcl)
@@ -150,7 +151,11 @@ IF(BUILD_PYTHON_INTERFACE)
   SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
 
-  INSTALL(TARGETS ${PYWRAP} DESTINATION ${${PYWRAP}_INSTALL_DIR})
+  INSTALL(
+    TARGETS ${PYWRAP} 
+    EXPORT ${TARGETS_EXPORT_NAME}
+    DESTINATION ${${PYWRAP}_INSTALL_DIR}
+    )
 
   # --- INSTALL SCRIPTS 
   SET(PYTHON_FILES

examples/CMakeLists.txt

@@ -6,7 +6,7 @@ FUNCTION(ADD_PINOCCHIO_CPP_EXAMPLE EXAMPLE)
   GET_FILENAME_COMPONENT(EXAMPLE_NAME ${EXAMPLE} NAME)
   SET(EXAMPLE_NAME "example-cpp-${EXAMPLE_NAME}")
   ADD_UNIT_TEST(${EXAMPLE_NAME} ${EXAMPLE})
-  TARGET_LINK_LIBRARIES(${EXAMPLE_NAME} ${PROJECT_NAME})
+  TARGET_LINK_LIBRARIES(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME})
   PKG_CONFIG_USE_DEPENDENCY(${EXAMPLE_NAME} eigen3)
   IF(URDFDOM_FOUND)
     PKG_CONFIG_USE_DEPENDENCY(${EXAMPLE_NAME} urdfdom)

src/CMakeLists.txt

@@ -11,15 +11,19 @@ SET(${PROJECT_NAME}_SOURCES
   ${${PROJECT_NAME}_PARSERS_SOURCES}
 )
 
+# Extract the compile definitions of the project for export
+GET_DIRECTORY_PROPERTY(CURRENT_COMPILE_DEFINITIONS COMPILE_DEFINITIONS)
+
 IF(UNIX)
     # Create target libpinocchio.so
     ADD_LIBRARY(${PROJECT_NAME} SHARED ${HEADERS} ${${PROJECT_NAME}_SOURCES})
     SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
+    TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PUBLIC ${CURRENT_COMPILE_DEFINITIONS})
     IF(BUILD_WITH_COMMIT_VERSION)
       TAG_LIBRARY_VERSION(${PROJECT_NAME})
     ENDIF(BUILD_WITH_COMMIT_VERSION)
     PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} eigen3)
-    TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${Boost_FILESYSTEM_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_SERIALIZATION_LIBRARY})
+    TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC ${Boost_FILESYSTEM_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_SERIALIZATION_LIBRARY})
 
     IF(URDFDOM_FOUND)
       PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} urdfdom)

unittest/CMakeLists.txt

@@ -34,8 +34,8 @@ MACRO(ADD_PINOCCHIO_UNIT_TEST NAME)
     PKG_CONFIG_USE_DEPENDENCY(${TEST_NAME} hpp-fcl)
   ENDIF(HPP_FCL_FOUND)
 
-  TARGET_LINK_LIBRARIES(${TEST_NAME} ${PROJECT_NAME})
-  TARGET_LINK_LIBRARIES(${TEST_NAME} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
+  TARGET_LINK_LIBRARIES(${TEST_NAME} PUBLIC ${PROJECT_NAME})
+  TARGET_LINK_LIBRARIES(${TEST_NAME} PRIVATE ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
 ENDMACRO(ADD_PINOCCHIO_UNIT_TEST)
 
 # --- RULES -------------------------------------------------------------------
@@ -76,9 +76,10 @@ ENDIF(URDFDOM_FOUND)
 
 IF(BUILD_PYTHON_INTERFACE)
   ADD_PINOCCHIO_UNIT_TEST(python_parser eigenpy)
+  TARGET_INCLUDE_DIRECTORIES(test-cpp-python_parser SYSTEM PUBLIC ${PYTHON_INCLUDE_DIRS})
 
-  TARGET_LINK_LIBRARIES(test-cpp-python_parser ${PYWRAP})
-  TARGET_LINK_LIBRARIES(test-cpp-python_parser ${PYTHON_LIBRARIES})
+  TARGET_LINK_LIBRARIES(test-cpp-python_parser PUBLIC ${PYWRAP})
+  TARGET_LINK_LIBRARIES(test-cpp-python_parser PUBLIC ${PYTHON_LIBRARIES})
   SET(ENV_VARIABLES "PYTHONPATH=${CMAKE_BINARY_DIR}/bindings/python:$ENV{PYTHONPATH}")
   IF(APPLE)
     LIST(APPEND ENV_VARIABLES "LD_LIBRARY_PATH=$ENV{LD_LIBRARY_PATH}")
@@ -124,25 +125,25 @@ ADD_PINOCCHIO_UNIT_TEST(contact-dynamics-derivatives)
 ADD_PINOCCHIO_UNIT_TEST(multiprecision)
 
 # Automatic differentiation
-IF(CPPAD_FOUND AND BUILD_WITH_AUTODIFF_SUPPORT)
+IF(BUILD_WITH_AUTODIFF_SUPPORT)
   ADD_PINOCCHIO_UNIT_TEST(cppad-basic cppad)
   ADD_PINOCCHIO_UNIT_TEST(cppad-spatial cppad)
   ADD_PINOCCHIO_UNIT_TEST(cppad-joints cppad)
   ADD_PINOCCHIO_UNIT_TEST(cppad-algo cppad)
   ADD_PINOCCHIO_UNIT_TEST(cppad-algo-derivatives cppad)
 
-  IF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT)
+  IF(BUILD_WITH_CODEGEN_SUPPORT)
     ADD_PINOCCHIO_UNIT_TEST(cppadcg-basic cppadcg)
     SET_PROPERTY(TARGET test-cpp-cppadcg-basic PROPERTY CXX_STANDARD 11)
     TARGET_LINK_LIBRARIES(test-cpp-cppadcg-basic ${CMAKE_DL_LIBS})
     ADD_PINOCCHIO_UNIT_TEST(cppadcg-algo cppadcg)
     SET_PROPERTY(TARGET test-cpp-cppadcg-algo PROPERTY CXX_STANDARD 11)
     TARGET_LINK_LIBRARIES(test-cpp-cppadcg-algo ${CMAKE_DL_LIBS})
-  ENDIF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT)
+  ENDIF(BUILD_WITH_CODEGEN_SUPPORT)
 
-ENDIF(CPPAD_FOUND AND BUILD_WITH_AUTODIFF_SUPPORT)
+ENDIF(BUILD_WITH_AUTODIFF_SUPPORT)
 
-IF(CASADI_FOUND AND BUILD_WITH_CASADI_SUPPORT)
+IF(BUILD_WITH_CASADI_SUPPORT)
   ADD_PINOCCHIO_UNIT_TEST(casadi-basic casadi)
   SET_PROPERTY(TARGET test-cpp-casadi-basic PROPERTY CXX_STANDARD 11)
   ADD_PINOCCHIO_UNIT_TEST(casadi-spatial casadi)
@@ -153,5 +154,5 @@ IF(CASADI_FOUND AND BUILD_WITH_CASADI_SUPPORT)
   SET_PROPERTY(TARGET test-cpp-casadi-algo PROPERTY CXX_STANDARD 11)
   ADD_PINOCCHIO_UNIT_TEST(casadi-algo-derivatives casadi)
   SET_PROPERTY(TARGET test-cpp-casadi-algo-derivatives PROPERTY CXX_STANDARD 11)
-ENDIF(CASADI_FOUND AND BUILD_WITH_CASADI_SUPPORT)
+ENDIF(BUILD_WITH_CASADI_SUPPORT)
 

unittest/packaging/CMakeLists.txt

+cmake_minimum_required(VERSION 2.6)
+
+project(ExtraLib CXX)
+find_package(pinocchio REQUIRED)
+find_package(PythonInterp REQUIRED)
+find_package(PythonLibs REQUIRED)
+
+set(PINOCCHIO_MODEL_DIR "${PROJECT_SOURCE_DIR}/../../models")
+add_definitions('-DPINOCCHIO_MODEL_DIR=\"${PINOCCHIO_MODEL_DIR}\"')
+
+add_executable(run_rnea run_rnea.cpp)
+target_link_libraries(run_rnea PUBLIC pinocchio::pinocchio)
+
+if(DEFINED PINOCCHIO_WITH_URDF_SUPPORT)
+  add_executable(load_urdf load_urdf.cpp)
+  target_link_libraries(load_urdf PUBLIC pinocchio::pinocchio)
+endif(DEFINED PINOCCHIO_WITH_URDF_SUPPORT)

unittest/packaging/load_urdf.cpp

+#include <pinocchio/parsers/urdf.hpp>
+
+#include <iostream>
+#include <string>
+
+int main(int /*argc*/, char ** /*argv*/)
+{
+  using namespace pinocchio;
+
+  const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
+  Model model;
+  pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), model);
+
+  std::cout << "model.nq: " << model.nq << std::endl;
+  std::cout << "model.nv: " << model.nv << std::endl;
+
+  return 0;
+}

unittest/packaging/run_rnea.cpp

+#include <pinocchio/parsers/sample-models.hpp>
+#include <pinocchio/algorithm/rnea.hpp>
+#include <pinocchio/algorithm/joint-configuration.hpp>
+
+#include <iostream>
+
+int main(int /*argc*/, char ** /*argv*/)
+{
+  using namespace pinocchio;
+
+  Model model;
+  pinocchio::buildModels::humanoid(model);
+
+  Model::VectorXs q = randomConfiguration(model);
+  Model::VectorXs v = Model::VectorXs::Random(model.nv);
+  Model::VectorXs a = Model::VectorXs::Random(model.nv);
+
+  Data data(model);
+  rnea(model,data,q,v,a);
+
+  return 0;
+}

utils/CMakeLists.txt

 #
-# Copyright (c) 2015-2018 CNRS
+# Copyright (c) 2015-2020 CNRS INRIA
 #
 
 # --- MACROS ------------------------------------------------------------------
@@ -16,10 +16,11 @@ MACRO(ADD_UTIL NAME UTIL_SRC PKGS)
   FOREACH(PKG ${PKGS})
     PKG_CONFIG_USE_DEPENDENCY(${NAME} ${PKG})
   ENDFOREACH(PKG)
-  TARGET_LINK_LIBRARIES (${NAME} ${Boost_LIBRARIES} ${PROJECT_NAME})
+  TARGET_LINK_LIBRARIES (${NAME} PUBLIC ${PROJECT_NAME})
   IF(BUILD_PYTHON_INTERFACE)
-    TARGET_LINK_BOOST_PYTHON(${NAME})
-    TARGET_LINK_LIBRARIES(${NAME} ${PYTHON_LIBRARIES})
+    TARGET_INCLUDE_DIRECTORIES(${NAME} SYSTEM PUBLIC ${PYTHON_INCLUDE_DIRS}) 
+    TARGET_LINK_BOOST_PYTHON(${NAME} PUBLIC)
+    TARGET_LINK_LIBRARIES(${NAME} PUBLIC ${PYTHON_LIBRARIES})
   ENDIF(BUILD_PYTHON_INTERFACE)
 
   IF(HPP_FCL_FOUND)