[CMake] depend on eigenpy only if we build the python interface

CMakeLists.txt

@@ -42,7 +42,6 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
 
 SETUP_PROJECT()
 # Search for dependencies.
-ADD_REQUIRED_DEPENDENCY("eigenpy")
 ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.3.0")
 ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
 ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
@@ -56,6 +55,7 @@ IF(BUILD_PYTHON_INTERFACE)
   ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
   SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
   INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
+  ADD_REQUIRED_DEPENDENCY("eigenpy")
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 

src/CMakeLists.txt

@@ -43,7 +43,6 @@ FOREACH(lib ${plugins})
   TARGET_LINK_LIBRARIES(${libname} ${Boost_LIBRARIES})
 
   PKG_CONFIG_USE_DEPENDENCY(${libname} pinocchio)
-  PKG_CONFIG_USE_DEPENDENCY(${libname} eigenpy)
   PKG_CONFIG_USE_DEPENDENCY(${libname} sot-core)
   PKG_CONFIG_USE_DEPENDENCY(${libname} dynamic-graph)
 
@@ -51,6 +50,7 @@ FOREACH(lib ${plugins})
 
   # build python submodule
   IF(BUILD_PYTHON_INTERFACE)
+    PKG_CONFIG_USE_DEPENDENCY(${libname} eigenpy)
     STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})
 
     DYNAMIC_GRAPH_PYTHON_MODULE("sot/dynamics_pinocchio/${PYTHON_LIBRARY_NAME}"