Almost ready for generating packaging

The pkg-config template uses the _FULL_ variables while the install happens without the prefix.
This addresses #116

- MoveIt cannot make a new release right now with our bugfix due to people constraints
- We cannot roll back due to project constraints
- This adds a cmake config that internally uses the pkg-config. This will be replaced in the future with one with proper CMake targets

...\eigenpy\src\eigenpy.cpp : fatal error C1128:
number of sections exceeded object file format limit: compile with /bigobj