Exclude yaml_util.h header from install #7453
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This is a cherry-pick of 9eb22d4 in part. That commit was reverted for other reasons, but this portion is still correct and useful.
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SeanCurtis-TRI
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Jan 3, 2018
* Declare yaml-cpp as a private dependency in drake.cps After #7453 no headers that use yaml-cpp are installed.
jwnimmer-tri
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Jan 9, 2018
* Use yaml_cpp from Ubuntu Xenial. This removes the bazel external yaml_cpp and replaces it with system yaml_cpp found via pkg-config. Using the system version cuts down on the size of libdrake.so and improves linking compatibility when using Drake within systems that use the system yaml-cpp version. This change was previously introduced in #7352 and later reverted (#7403) due to issues with the MacOS build. Other portions of that original pull request were reintroduced in #7453.
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This is a cherry-pick of 9eb22d4 in part. That commit was #7352 and reverted in #7403 for other reasons, but this portion is still correct and useful.
Relates #7451.
/CC @nuclearsandwich
This change is