[CMake] allow multi python setup

CMakeLists.txt

@@ -64,22 +64,20 @@ SET(CMAKE_MODULE_PATH
 # If needed, fix CMake policy for APPLE systems
 APPLY_DEFAULT_APPLE_CONFIGURATION()
 
-OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
-
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
-ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.0")
+ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED)
 
 if(BUILD_PYTHON_INTERFACE)
-  FIND_PACKAGE(eigenpy 2.2 REQUIRED)
+  FINDPYTHON()
+  FIND_PACKAGE(eigenpy 2.4.4 REQUIRED COMPONENTS "eigenpy${PYTHON_EXT_SUFFIX_DASHES}")
 endif()
 
 # Required dependencies
 ADD_PROJECT_DEPENDENCY(Boost REQUIRED)
 find_package(Boost REQUIRED COMPONENTS filesystem unit_test_framework chrono timer)
 if (BUILD_PYTHON_INTERFACE)
-  FINDPYTHON()
   set(BOOST_COMPONENTS system python)
   search_for_boost()
 endif ()
@@ -100,9 +98,7 @@ endif()
 
 option(HPP_FCL_HAS_QHULL "use qhull library to compute convex hulls." FALSE)
 if(HPP_FCL_HAS_QHULL)
-  if(DEFINED CMAKE_CXX_STANDARD AND CMAKE_CXX_STANDARD EQUAL 98)
-    message(FATAL_ERROR "Cannot use qhull library with C++ < 11.\nYou may add -DCMAKE_CXX_STANDARD=11")
-  endif()
+  CHECK_MINIMAL_CXX_STANDARD(11 REQUIRED)
   file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/third-parties)
   execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink
     ${CMAKE_SOURCE_DIR}/third-parties/qhull/src/libqhullcpp
@@ -186,4 +182,6 @@ IF(HPP_FCL_HAVE_OCTOMAP)
 ENDIF(HPP_FCL_HAVE_OCTOMAP)
 
 # Install catkin package.xml
-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+endif()

cmake @ 0fb47553

-Subproject commit 89bd42923644d96fbe99d7495d12021d1e885a83
+Subproject commit 0fb475530c4d4b97a5a935d820984c42952bb6d6

python/CMakeLists.txt

@@ -119,21 +119,17 @@ ENDIF()
 TARGET_LINK_BOOST_PYTHON(${LIBRARY_NAME} PUBLIC)
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} PUBLIC
   ${PROJECT_NAME}
-  eigenpy::eigenpy
+  eigenpy::eigenpy${PYTHON_EXT_SUFFIX_DASHES}
   Boost::system)
 
 SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES
   PREFIX ""
   SUFFIX "${PYTHON_EXT_SUFFIX}"
   LIBRARY_OUTPUT_NAME ${LIBRARY_NAME}
-  LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/${LIBRARY_NAME}"
+  LIBRARY_OUTPUT_DIRECTORY ${LIBRARY_NAME}
   )
 
-IF(DEFINED HPP_FCL_SITELIB_ROOT AND HPP_FCL_SITELIB_ROOT)
-  SET(${LIBRARY_NAME}_INSTALL_DIR ${HPP_FCL_SITELIB_ROOT}/${PYTHON_SITELIB}/${LIBRARY_NAME})
-ELSE()
-  SET(${LIBRARY_NAME}_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/${LIBRARY_NAME})
-ENDIF()
+SET(${LIBRARY_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${LIBRARY_NAME})
 
 INSTALL(TARGETS ${LIBRARY_NAME}
   DESTINATION ${${LIBRARY_NAME}_INSTALL_DIR})
@@ -144,8 +140,5 @@ SET(PYTHON_FILES
   )
 
 FOREACH(python ${PYTHON_FILES})
-  PYTHON_BUILD(${LIBRARY_NAME} ${python})
-  INSTALL(FILES
-    "${CMAKE_CURRENT_SOURCE_DIR}/${LIBRARY_NAME}/${python}"
-    DESTINATION ${${LIBRARY_NAME}_INSTALL_DIR})
+  PYTHON_INSTALL_ON_SITE(${LIBRARY_NAME} ${python})
 ENDFOREACH(python)

src/CMakeLists.txt

@@ -197,10 +197,12 @@ IF(octomap_FOUND)
     -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION})
 ENDIF(octomap_FOUND)
 
-install(TARGETS ${LIBRARY_NAME}
-  EXPORT ${TARGETS_EXPORT_NAME}
-  PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}
-  INCLUDES DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}
-  LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
-  RUNTIME DESTINATION ${CMAKE_INSTALL_FULL_BINDIR})
+if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  install(TARGETS ${LIBRARY_NAME}
+    EXPORT ${TARGETS_EXPORT_NAME}
+    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}
+    INCLUDES DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}
+    LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
+    RUNTIME DESTINATION ${CMAKE_INSTALL_FULL_BINDIR})
+endif()