update for eigenpy 2.7.12

CMakeLists.txt

@@ -40,8 +40,6 @@ SET(CMAKE_VERBOSE_MAKEFILE TRUE)
 
 # JRL-cmakemodule setup
 INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/boost.cmake)
-INCLUDE(cmake/python.cmake)
 INCLUDE(cmake/ide.cmake)
 INCLUDE(cmake/apple.cmake)
 
@@ -72,6 +70,11 @@ ENDIF(EIGEN_NO_AUTOMATIC_RESIZING)
 CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
 
 # Project dependencies
+IF(BUILD_PYTHON_INTERFACE)
+  SET(PYWRAP ${PROJECT_NAME}_pywrap)
+  ADD_PROJECT_DEPENDENCY(eigenpy 2.7.12 REQUIRED)
+ENDIF(BUILD_PYTHON_INTERFACE)
+
 ADD_PROJECT_DEPENDENCY(pinocchio 2.3.1 REQUIRED)
 ADD_PROJECT_DEPENDENCY(eiquadprog 1.1.3 REQUIRED)
 
@@ -84,14 +87,6 @@ IF(BUILD_TESTING)
   FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework)
 ENDIF(BUILD_TESTING)
 
-IF(BUILD_PYTHON_INTERFACE)
-  set(PYTHON_COMPONENTS Interpreter Development.Module NumPy)
-  FINDPYTHON()
-  SET(PYWRAP ${PROJECT_NAME}_pywrap)
-  ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED)
-  SEARCH_FOR_BOOST_PYTHON(REQUIRED)
-ENDIF(BUILD_PYTHON_INTERFACE)
-
 # Main Library
 SET(${PROJECT_NAME}_MATH_HEADERS
   include/tsid/math/fwd.hpp

bindings/python/CMakeLists.txt

@@ -29,7 +29,6 @@ FILE(GLOB ${PYWRAP}_SOURCES
 
 ADD_LIBRARY(${PYWRAP} SHARED ${${PYWRAP}_SOURCES} ${${PYWRAP}_HEADERS})
 TARGET_LINK_LIBRARIES(${PYWRAP} PUBLIC ${PROJECT_NAME} eigenpy::eigenpy)
-TARGET_LINK_BOOST_PYTHON(${PYWRAP} PRIVATE)
 
 IF(BUILD_WITH_COMMIT_VERSION)
   TAG_LIBRARY_VERSION(${PYWRAP})