Correct the CMakelists

Add the missing dependencies
Modify the creation of folders for python

CMakeLists.txt

@@ -102,6 +102,27 @@ SET(headers
 
 )
 
+list(APPEND task-dyn-joint-limits_plugins_dependencies task-dyn-pd)
+list(APPEND pseudo-robot-dynamic_plugins_dependencies dynamic-integrator)
+
+foreach(lib task-inequality task-dyn-pd task-joint-limits task-dyn-joint-limits)
+	IF(WIN32)
+		list(APPEND ${lib}_ext_plugins_dependencies
+			${DYNAMIC_GRAPH_PLUGINDIR}/task${CMAKE_LINK_LIBRARY_SUFFIX})
+	ELSE(WIN32)
+		list(APPEND ${lib}_ext_plugins_dependencies
+			${DYNAMIC_GRAPH_PLUGINDIR}/task${CMAKE_SHARED_LIBRARY_SUFFIX})
+	ENDIF(WIN32)
+endforeach(lib)
+
+IF(WIN32)
+	list(APPEND solver-op-space_ext_plugins_dependencies
+		${DYNAMIC_GRAPH_PLUGINDIR}/feature-point6d${CMAKE_LINK_LIBRARY_SUFFIX})
+ELSE(WIN32)
+	list(APPEND solver-op-space_ext_plugins_dependencies
+		${DYNAMIC_GRAPH_PLUGINDIR}/feature-point6d${CMAKE_SHARED_LIBRARY_SUFFIX})
+ENDIF(WIN32)
+
 # Add subdirectories.
 ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(unitTesting)

src/CMakeLists.txt

@@ -32,6 +32,7 @@ FOREACH(header ${headers})
           PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
 ENDFOREACH(header)
 INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/include)
+INCLUDE_DIRECTORIES(${${PROJECT_NAME}_SOURCE_DIR}/include)
 
 # --- COMPILATION OF PLUGINS
 FOREACH(lib ${libs})
@@ -46,6 +47,10 @@ FOREACH(lib ${libs})
     TARGET_LINK_LIBRARIES(${lib} "${${lib}_plugins_dependencies}")
   ENDIF(${lib}_plugins_dependencies)
 
+  IF(${lib}_ext_plugins_dependencies)
+    TARGET_LINK_LIBRARIES(${lib} "${${lib}_ext_plugins_dependencies}")
+  ENDIF(${lib}_ext_plugins_dependencies)
+
   PKG_CONFIG_USE_DEPENDENCY(${lib} sot-core)
   PKG_CONFIG_USE_DEPENDENCY(${lib} dynamic-graph)
   PKG_CONFIG_USE_DEPENDENCY(${lib} soth)
@@ -53,24 +58,17 @@ FOREACH(lib ${libs})
   INSTALL(TARGETS ${lib} DESTINATION lib/plugin)
   # build python submodule
   STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})
-  ADD_DEPENDENCIES(${lib} MKDIR_${PYTHON_LIBRARY_NAME})
-  ADD_CUSTOM_TARGET(MKDIR_${PYTHON_LIBRARY_NAME}
-    mkdir -p dynamic_graph/sot/dyninv/${PYTHON_LIBRARY_NAME}
-    )
+  FILE(MAKE_DIRECTORY dynamic_graph/sot/dyninv/${PYTHON_LIBRARY_NAME})
   DYNAMIC_GRAPH_PYTHON_MODULE("sot/dyninv/${PYTHON_LIBRARY_NAME}"
     ${lib}
-    sot/dyninv/${PYTHON_LIBRARY_NAME}/wrap
+    sot-dyninv-${PYTHON_LIBRARY_NAME}-wrap
     )
 ENDFOREACH(lib)
 
-#EXEC_PROGRAM(${PYTHON_EXECUTABLE} ARGS "-c \"from distutils import sysconfig; print sysconfig.get_python_lib(0,0,prefix='')\""
-#  OUTPUT_VARIABLE PYTHON_SITELIB
-#  )
-
 # Install empty __init__.py files in intermediate directories.
 INSTALL(FILES
   ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/__init__.py
   DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dyninv
   )
 
-MESSAGE(STATUS DESTINATION ${PYTHON_SITELIB} )
\ No newline at end of file
+MESSAGE(STATUS DESTINATION ${PYTHON_SITELIB} )