Create idyntree-pybind11 library

CMakeLists.txt

@@ -67,6 +67,8 @@ if(NOT IDYNTREE_ONLY_DOCS)
         list(APPEND _IDYNTREE_EXPORTED_DEPENDENCIES_ONLY_STATIC assimp)
     endif()
 
+    add_subdirectory(bindings)
+
     include(InstallBasicPackageFiles)
     install_basic_package_files(iDynTree VARS_PREFIX ${VARS_PREFIX}
                                          VERSION ${${VARS_PREFIX}_VERSION}
@@ -78,8 +80,6 @@ if(NOT IDYNTREE_ONLY_DOCS)
                                          PRIVATE_DEPENDENCIES ${_IDYNTREE_EXPORTED_DEPENDENCIES_ONLY_STATIC})
 
     include(AddUninstallTarget)
-
-    add_subdirectory(bindings)
 endif()
 
 # add a dox target to generate doxygen documentation

bindings/pybind11/CMakeLists.txt

@@ -1,16 +1,40 @@
+set(libraryname idyntree-pybind11)
+
+add_library(${libraryname} INTERFACE)
+target_link_libraries(${libraryname} INTERFACE idyntree-core)
+
+# Specify include directories for both compilation and installation process.
+# The $<INSTALL_PREFIX> generator expression is useful to ensure to create
+# relocatable configuration files, see https://cmake.org/cmake/help/latest/manual/cmake-packages.7.html
+# creating-relocatable-packages
+target_include_directories(${libraryname} INTERFACE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "<INSTALL_INTERFACE:<INSTALL_PREFIX>/${CMAKE_INSTALL_INCLUDEDIR}>")
+
+# Specify installation targets, typology and destination folders.
+install(TARGETS        ${libraryname}
+  EXPORT               ${PROJECT_NAME})
+
+install(FILES "${CMAKE_CURRENT_SOURCE_DIR}/include/iDynTree/pybind11/VectorCasters.h"
+  DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/iDynTree/pybind11")
+
+add_library(iDynTree::${libraryname} ALIAS ${libraryname})
+set_property(GLOBAL APPEND PROPERTY ${VARS_PREFIX}_TARGETS ${libraryname})
+
 pybind11_add_module(pybind11_idyntree SYSTEM idyntree.cpp
                                     error_utilities.h error_utilities.cpp
                                     idyntree_core.h idyntree_core.cpp
                                     error_utilities.h error_utilities.cpp
                                     idyntree_model.h idyntree_model.cpp
                                     idyntree_sensors.h idyntree_sensors.cpp
                                     idyntree_modelio_urdf.h idyntree_modelio_urdf.cpp
-                                    idyntree_vector_casters.h)
+                                    )
 
 target_link_libraries(pybind11_idyntree PUBLIC idyntree-core
                                                idyntree-model
                                                idyntree-sensors
-                                               idyntree-modelio)
+                                               idyntree-modelio
+					       iDynTree::idyntree-pybind11)
 
 # The generated Python dynamic module must have the same name as the pybind11
 # module, i.e. `bindings`.

bindings/pybind11/idyntree_core.cpp

@@ -1,6 +1,6 @@
 #include "idyntree_core.h"
-#include "idyntree_vector_casters.h"
 
+#include <iDynTree/pybind11/VectorCasters.h>
 #include <iDynTree/Core/Axis.h>
 #include <iDynTree/Core/Direction.h>
 #include <iDynTree/Core/MatrixDynSize.h>

bindings/pybind11/idyntree_model.cpp

@@ -1,5 +1,5 @@
 #include "idyntree_model.h"
-#include "idyntree_vector_casters.h"
+#include <iDynTree/pybind11/VectorCasters.h>
 
 #include "error_utilities.h"
 

bindings/pybind11/idyntree_modelio_urdf.cpp

@@ -1,5 +1,6 @@
+#include <iDynTree/pybind11/VectorCasters.h>
+
 #include "idyntree_modelio_urdf.h"
-#include "idyntree_vector_casters.h"
 
 #include "error_utilities.h"
 

bindings/pybind11/idyntree_sensors.cpp

@@ -1,5 +1,5 @@
 
-#include "idyntree_vector_casters.h"
+#include <iDynTree/pybind11/VectorCasters.h>
 #include "idyntree_sensors.h"
 #include "error_utilities.h"