[CMake] Move CFLAGS definition in their respective block

CMakeLists.txt

@@ -90,6 +90,7 @@ IF(EIGEN3_FOUND)
   IF(${EIGEN3_VERSION} VERSION_GREATER "3.2.9")
     ADD_DEFINITIONS(-DEIGEN3_FUTURE)
     SET(EIGEN3_FUTURE TRUE)
+    PKG_CONFIG_APPEND_CFLAGS("-DEIGEN3_FUTURE")
   ELSE(${EIGEN3_VERSION} VERSION_GREATER "3.2.9")
     SET(EIGEN3_FUTURE FALSE)
   ENDIF(${EIGEN3_VERSION} VERSION_GREATER "3.2.9")
@@ -100,6 +101,7 @@ IF(URDFDOM_FOUND)
   IF(${URDFDOM_VERSION} VERSION_LESS "0.3.0")
     ADD_DEFINITIONS(-DURDFDOM_COLLISION_WITH_GROUP_NAME)
     SET(URDFDOM_COLLISION_WITH_GROUP_NAME TRUE)
+    PKG_CONFIG_APPEND_CFLAGS("-DURDFDOM_COLLISION_WITH_GROUP_NAME")
   ENDIF(${URDFDOM_VERSION} VERSION_LESS "0.3.0")
 ENDIF(URDFDOM_FOUND)
 
@@ -312,14 +314,6 @@ ADD_SUBDIRECTORY(benchmark)
 PKG_CONFIG_APPEND_LIBS (${PROJECT_NAME})
 PKG_CONFIG_APPEND_BOOST_LIBS(${BOOST_REQUIERED_COMPONENTS})
 
-IF(EIGEN3_FUTURE)
-  PKG_CONFIG_APPEND_CFLAGS("-DEIGEN3_FUTURE")
-ENDIF(EIGEN3_FUTURE)
-
-IF(URDFDOM_COLLISION_WITH_GROUP_NAME)
-  PKG_CONFIG_APPEND_CFLAGS("-DURDFDOM_COLLISION_WITH_GROUP_NAME")
-ENDIF(URDFDOM_COLLISION_WITH_GROUP_NAME)
-
 FOREACH(cflags ${CFLAGS_DEPENDENCIES})
   PKG_CONFIG_APPEND_CFLAGS(${cflags})
 ENDFOREACH(cflags ${CFLAGS_DEPENDENCIES})