From d1fec1776963c0b18592cef5c2f28a2efedbb773 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@navya.tech>
Date: Wed, 18 Oct 2023 14:22:02 +0200
Subject: [PATCH 01/13] Move all headers

---
 {src => include/pinocchio}/algorithm/aba-derivatives.hpp          | 0
 {src => include/pinocchio}/algorithm/aba-derivatives.hxx          | 0
 {src => include/pinocchio}/algorithm/aba.hpp                      | 0
 {src => include/pinocchio}/algorithm/aba.hxx                      | 0
 .../pinocchio}/algorithm/center-of-mass-derivatives.hpp           | 0
 .../pinocchio}/algorithm/center-of-mass-derivatives.hxx           | 0
 {src => include/pinocchio}/algorithm/center-of-mass.hpp           | 0
 {src => include/pinocchio}/algorithm/center-of-mass.hxx           | 0
 {src => include/pinocchio}/algorithm/centroidal-derivatives.hpp   | 0
 {src => include/pinocchio}/algorithm/centroidal-derivatives.hxx   | 0
 {src => include/pinocchio}/algorithm/centroidal.hpp               | 0
 {src => include/pinocchio}/algorithm/centroidal.hxx               | 0
 {src => include/pinocchio}/algorithm/check.hpp                    | 0
 {src => include/pinocchio}/algorithm/check.hxx                    | 0
 {src => include/pinocchio}/algorithm/cholesky.hpp                 | 0
 {src => include/pinocchio}/algorithm/cholesky.hxx                 | 0
 {src => include/pinocchio}/algorithm/compute-all-terms.hpp        | 0
 {src => include/pinocchio}/algorithm/compute-all-terms.hxx        | 0
 {src => include/pinocchio}/algorithm/contact-dynamics.hpp         | 0
 {src => include/pinocchio}/algorithm/contact-dynamics.hxx         | 0
 {src => include/pinocchio}/algorithm/copy.hpp                     | 0
 {src => include/pinocchio}/algorithm/crba.hpp                     | 0
 {src => include/pinocchio}/algorithm/crba.hxx                     | 0
 {src => include/pinocchio}/algorithm/default-check.hpp            | 0
 {src => include/pinocchio}/algorithm/dynamics.hpp                 | 0
 {src => include/pinocchio}/algorithm/energy.hpp                   | 0
 {src => include/pinocchio}/algorithm/energy.hxx                   | 0
 {src => include/pinocchio}/algorithm/frames-derivatives.hpp       | 0
 {src => include/pinocchio}/algorithm/frames-derivatives.hxx       | 0
 {src => include/pinocchio}/algorithm/frames.hpp                   | 0
 {src => include/pinocchio}/algorithm/frames.hxx                   | 0
 {src => include/pinocchio}/algorithm/geometry.hpp                 | 0
 {src => include/pinocchio}/algorithm/geometry.hxx                 | 0
 {src => include/pinocchio}/algorithm/jacobian.hpp                 | 0
 {src => include/pinocchio}/algorithm/jacobian.hxx                 | 0
 {src => include/pinocchio}/algorithm/joint-configuration.hpp      | 0
 {src => include/pinocchio}/algorithm/joint-configuration.hxx      | 0
 {src => include/pinocchio}/algorithm/kinematics-derivatives.hpp   | 0
 {src => include/pinocchio}/algorithm/kinematics-derivatives.hxx   | 0
 {src => include/pinocchio}/algorithm/kinematics.hpp               | 0
 {src => include/pinocchio}/algorithm/kinematics.hxx               | 0
 {src => include/pinocchio}/algorithm/model.hpp                    | 0
 {src => include/pinocchio}/algorithm/model.hxx                    | 0
 {src => include/pinocchio}/algorithm/parallel/aba.hpp             | 0
 {src => include/pinocchio}/algorithm/parallel/geometry.hpp        | 0
 {src => include/pinocchio}/algorithm/parallel/rnea.hpp            | 0
 {src => include/pinocchio}/algorithm/regressor.hpp                | 0
 {src => include/pinocchio}/algorithm/regressor.hxx                | 0
 {src => include/pinocchio}/algorithm/rnea-derivatives.hpp         | 0
 {src => include/pinocchio}/algorithm/rnea-derivatives.hxx         | 0
 .../pinocchio}/algorithm/rnea-second-order-derivatives.hpp        | 0
 .../pinocchio}/algorithm/rnea-second-order-derivatives.hxx        | 0
 {src => include/pinocchio}/algorithm/rnea.hpp                     | 0
 {src => include/pinocchio}/algorithm/rnea.hxx                     | 0
 {src => include/pinocchio}/autodiff/casadi.hpp                    | 0
 {src => include/pinocchio}/autodiff/casadi/math/matrix.hpp        | 0
 {src => include/pinocchio}/autodiff/casadi/math/quaternion.hpp    | 0
 {src => include/pinocchio}/autodiff/casadi/spatial/se3-tpl.hpp    | 0
 {src => include/pinocchio}/autodiff/casadi/utils/static-if.hpp    | 0
 {src => include/pinocchio}/autodiff/cppad.hpp                     | 0
 {src => include/pinocchio}/autodiff/cppad/algorithm/aba.hpp       | 0
 {src => include/pinocchio}/autodiff/cppad/math/eigen_plugin.hpp   | 0
 {src => include/pinocchio}/autodiff/cppad/math/quaternion.hpp     | 0
 {src => include/pinocchio}/autodiff/cppad/spatial/log.hxx         | 0
 {src => include/pinocchio}/autodiff/cppad/spatial/se3-tpl.hpp     | 0
 {src => include/pinocchio}/autodiff/cppad/utils/static-if.hpp     | 0
 .../pinocchio/bindings}/python/algorithm/algorithms.hpp           | 0
 {bindings => include/pinocchio/bindings}/python/fwd.hpp           | 0
 .../pinocchio/bindings}/python/multibody/data.hpp                 | 0
 .../pinocchio/bindings}/python/multibody/fcl/transform.hpp        | 0
 .../pinocchio/bindings}/python/multibody/frame.hpp                | 0
 .../pinocchio/bindings}/python/multibody/geometry-data.hpp        | 0
 .../pinocchio/bindings}/python/multibody/geometry-model.hpp       | 0
 .../pinocchio/bindings}/python/multibody/geometry-object.hpp      | 0
 .../pinocchio/bindings}/python/multibody/joint/joint-derived.hpp  | 0
 .../pinocchio/bindings}/python/multibody/joint/joint.hpp          | 0
 .../pinocchio/bindings}/python/multibody/joint/joints-datas.hpp   | 0
 .../pinocchio/bindings}/python/multibody/joint/joints-models.hpp  | 0
 .../pinocchio/bindings}/python/multibody/joint/joints-variant.hpp | 0
 .../pinocchio/bindings}/python/multibody/liegroups.hpp            | 0
 .../pinocchio/bindings}/python/multibody/model.hpp                | 0
 .../pinocchio/bindings}/python/multibody/pool/geometry.hpp        | 0
 .../pinocchio/bindings}/python/multibody/pool/model.hpp           | 0
 .../pinocchio/bindings}/python/parsers/python.hpp                 | 0
 .../pinocchio/bindings}/python/parsers/sample-models.hpp          | 0
 {bindings => include/pinocchio/bindings}/python/parsers/srdf.hpp  | 0
 {bindings => include/pinocchio/bindings}/python/parsers/urdf.hpp  | 0
 {bindings => include/pinocchio/bindings}/python/pybind11-all.hpp  | 0
 {bindings => include/pinocchio/bindings}/python/pybind11.hpp      | 0
 .../pinocchio/bindings}/python/serialization/serializable.hpp     | 0
 .../pinocchio/bindings}/python/serialization/serialization.hpp    | 0
 .../pinocchio/bindings}/python/spatial/explog.hpp                 | 0
 {bindings => include/pinocchio/bindings}/python/spatial/force.hpp | 0
 .../pinocchio/bindings}/python/spatial/inertia.hpp                | 0
 .../pinocchio/bindings}/python/spatial/motion.hpp                 | 0
 {bindings => include/pinocchio/bindings}/python/spatial/se3.hpp   | 0
 .../pinocchio/bindings}/python/utils/constant.hpp                 | 0
 .../pinocchio/bindings}/python/utils/conversions.hpp              | 0
 .../pinocchio/bindings}/python/utils/copyable.hpp                 | 0
 .../pinocchio/bindings}/python/utils/dependencies.hpp             | 0
 .../pinocchio/bindings}/python/utils/deprecation.hpp              | 0
 {bindings => include/pinocchio/bindings}/python/utils/eigen.hpp   | 0
 {bindings => include/pinocchio/bindings}/python/utils/list.hpp    | 0
 .../pinocchio/bindings}/python/utils/namespace.hpp                | 0
 .../pinocchio/bindings}/python/utils/pickle-map.hpp               | 0
 .../pinocchio/bindings}/python/utils/pickle-vector.hpp            | 0
 .../pinocchio/bindings}/python/utils/printable.hpp                | 0
 .../pinocchio/bindings}/python/utils/registration.hpp             | 0
 .../pinocchio/bindings}/python/utils/std-aligned-vector.hpp       | 0
 {bindings => include/pinocchio/bindings}/python/utils/std-map.hpp | 0
 .../pinocchio/bindings}/python/utils/std-vector.hpp               | 0
 {bindings => include/pinocchio/bindings}/python/utils/version.hpp | 0
 {src => include/pinocchio}/codegen/code-generator-algo.hpp        | 0
 {src => include/pinocchio}/codegen/code-generator-base.hpp        | 0
 {src => include/pinocchio}/codegen/cppadcg.hpp                    | 0
 {src => include/pinocchio}/container/aligned-vector.hpp           | 0
 {src => include/pinocchio}/container/boost-container-limits.hpp   | 0
 {src => include/pinocchio}/core/binary-op.hpp                     | 0
 {src => include/pinocchio}/core/unary-op.hpp                      | 0
 {src => include/pinocchio}/deprecated-macros.hpp                  | 0
 {src => include/pinocchio}/deprecated-namespaces.hpp              | 0
 {src => include/pinocchio}/deprecation.hpp                        | 0
 {src => include/pinocchio}/eigen-macros.hpp                       | 0
 {src => include/pinocchio}/fwd.hpp                                | 0
 {src => include/pinocchio}/macros.hpp                             | 0
 {src => include/pinocchio}/math/casadi.hpp                        | 0
 {src => include/pinocchio}/math/comparison-operators.hpp          | 0
 {src => include/pinocchio}/math/cppad.hpp                         | 0
 {src => include/pinocchio}/math/cppadcg.hpp                       | 0
 {src => include/pinocchio}/math/fwd.hpp                           | 0
 {src => include/pinocchio}/math/matrix-block.hpp                  | 0
 {src => include/pinocchio}/math/matrix.hpp                        | 0
 {src => include/pinocchio}/math/multiprecision-mpfr.hpp           | 0
 {src => include/pinocchio}/math/multiprecision.hpp                | 0
 {src => include/pinocchio}/math/quaternion.hpp                    | 0
 {src => include/pinocchio}/math/rotation.hpp                      | 0
 {src => include/pinocchio}/math/rpy.hpp                           | 0
 {src => include/pinocchio}/math/rpy.hxx                           | 0
 {src => include/pinocchio}/math/sign.hpp                          | 0
 {src => include/pinocchio}/math/sincos.hpp                        | 0
 {src => include/pinocchio}/math/taylor-expansion.hpp              | 0
 {src => include/pinocchio}/math/tensor.hpp                        | 0
 {src => include/pinocchio}/multibody/constraint-base.hpp          | 0
 {src => include/pinocchio}/multibody/constraint-generic.hpp       | 0
 {src => include/pinocchio}/multibody/constraint.hpp               | 0
 {src => include/pinocchio}/multibody/data.hpp                     | 0
 {src => include/pinocchio}/multibody/data.hxx                     | 0
 {src => include/pinocchio}/multibody/fcl.hpp                      | 0
 {src => include/pinocchio}/multibody/fcl.hxx                      | 0
 {src => include/pinocchio}/multibody/force-set.hpp                | 0
 {src => include/pinocchio}/multibody/frame.hpp                    | 0
 {src => include/pinocchio}/multibody/fwd.hpp                      | 0
 {src => include/pinocchio}/multibody/geometry.hpp                 | 0
 {src => include/pinocchio}/multibody/geometry.hxx                 | 0
 {src => include/pinocchio}/multibody/joint/fwd.hpp                | 0
 {src => include/pinocchio}/multibody/joint/joint-base.hpp         | 0
 .../pinocchio}/multibody/joint/joint-basic-visitors.hpp           | 0
 .../pinocchio}/multibody/joint/joint-basic-visitors.hxx           | 0
 {src => include/pinocchio}/multibody/joint/joint-collection.hpp   | 0
 .../pinocchio}/multibody/joint/joint-common-operations.hpp        | 0
 {src => include/pinocchio}/multibody/joint/joint-composite.hpp    | 0
 {src => include/pinocchio}/multibody/joint/joint-composite.hxx    | 0
 {src => include/pinocchio}/multibody/joint/joint-data-base.hpp    | 0
 {src => include/pinocchio}/multibody/joint/joint-free-flyer.hpp   | 0
 {src => include/pinocchio}/multibody/joint/joint-generic.hpp      | 0
 {src => include/pinocchio}/multibody/joint/joint-mimic.hpp        | 0
 {src => include/pinocchio}/multibody/joint/joint-model-base.hpp   | 0
 {src => include/pinocchio}/multibody/joint/joint-planar.hpp       | 0
 .../pinocchio}/multibody/joint/joint-prismatic-unaligned.hpp      | 0
 {src => include/pinocchio}/multibody/joint/joint-prismatic.hpp    | 0
 .../pinocchio}/multibody/joint/joint-revolute-unaligned.hpp       | 0
 .../multibody/joint/joint-revolute-unbounded-unaligned.hpp        | 0
 .../pinocchio}/multibody/joint/joint-revolute-unbounded.hpp       | 0
 {src => include/pinocchio}/multibody/joint/joint-revolute.hpp     | 0
 .../pinocchio}/multibody/joint/joint-spherical-ZYX.hpp            | 0
 {src => include/pinocchio}/multibody/joint/joint-spherical.hpp    | 0
 {src => include/pinocchio}/multibody/joint/joint-translation.hpp  | 0
 {src => include/pinocchio}/multibody/joint/joints.hpp             | 0
 .../pinocchio}/multibody/liegroup/cartesian-product-variant.hpp   | 0
 .../pinocchio}/multibody/liegroup/cartesian-product-variant.hxx   | 0
 .../pinocchio}/multibody/liegroup/cartesian-product.hpp           | 0
 {src => include/pinocchio}/multibody/liegroup/fwd.hpp             | 0
 {src => include/pinocchio}/multibody/liegroup/liegroup-algo.hpp   | 0
 {src => include/pinocchio}/multibody/liegroup/liegroup-algo.hxx   | 0
 {src => include/pinocchio}/multibody/liegroup/liegroup-base.hpp   | 0
 {src => include/pinocchio}/multibody/liegroup/liegroup-base.hxx   | 0
 .../pinocchio}/multibody/liegroup/liegroup-collection.hpp         | 0
 .../pinocchio}/multibody/liegroup/liegroup-generic.hpp            | 0
 .../pinocchio}/multibody/liegroup/liegroup-variant-visitors.hpp   | 0
 .../pinocchio}/multibody/liegroup/liegroup-variant-visitors.hxx   | 0
 {src => include/pinocchio}/multibody/liegroup/liegroup.hpp        | 0
 .../pinocchio}/multibody/liegroup/special-euclidean.hpp           | 0
 .../pinocchio}/multibody/liegroup/special-orthogonal.hpp          | 0
 {src => include/pinocchio}/multibody/liegroup/vector-space.hpp    | 0
 {src => include/pinocchio}/multibody/model.hpp                    | 0
 {src => include/pinocchio}/multibody/model.hxx                    | 0
 {src => include/pinocchio}/multibody/pool/geometry.hpp            | 0
 {src => include/pinocchio}/multibody/pool/model.hpp               | 0
 {src => include/pinocchio}/multibody/visitor.hpp                  | 0
 {src => include/pinocchio}/multibody/visitor/fusion.hpp           | 0
 .../pinocchio}/multibody/visitor/joint-binary-visitor.hpp         | 0
 .../pinocchio}/multibody/visitor/joint-unary-visitor.hpp          | 0
 {src => include/pinocchio}/parsers/sample-models.hpp              | 0
 {src => include/pinocchio}/parsers/sample-models.hxx              | 0
 {src => include/pinocchio}/parsers/srdf.hpp                       | 0
 {src => include/pinocchio}/parsers/srdf.hxx                       | 0
 {src => include/pinocchio}/parsers/urdf.hpp                       | 0
 {src => include/pinocchio}/parsers/urdf/geometry.hxx              | 0
 {src => include/pinocchio}/parsers/urdf/model.hxx                 | 0
 {src => include/pinocchio}/parsers/urdf/types.hpp                 | 0
 {src => include/pinocchio}/parsers/urdf/utils.hpp                 | 0
 {src => include/pinocchio}/parsers/utils.hpp                      | 0
 {src => include/pinocchio}/serialization/aligned-vector.hpp       | 0
 {src => include/pinocchio}/serialization/archive.hpp              | 0
 {src => include/pinocchio}/serialization/data.hpp                 | 0
 {src => include/pinocchio}/serialization/eigen.hpp                | 0
 {src => include/pinocchio}/serialization/force.hpp                | 0
 {src => include/pinocchio}/serialization/frame.hpp                | 0
 {src => include/pinocchio}/serialization/fwd.hpp                  | 0
 {src => include/pinocchio}/serialization/geometry.hpp             | 0
 {src => include/pinocchio}/serialization/inertia.hpp              | 0
 {src => include/pinocchio}/serialization/joints-constraint.hpp    | 0
 {src => include/pinocchio}/serialization/joints-data.hpp          | 0
 {src => include/pinocchio}/serialization/joints-model.hpp         | 0
 {src => include/pinocchio}/serialization/joints-motion.hpp        | 0
 {src => include/pinocchio}/serialization/joints-transform.hpp     | 0
 {src => include/pinocchio}/serialization/joints.hpp               | 0
 {src => include/pinocchio}/serialization/model.hpp                | 0
 {src => include/pinocchio}/serialization/motion.hpp               | 0
 {src => include/pinocchio}/serialization/se3.hpp                  | 0
 {src => include/pinocchio}/serialization/serializable.hpp         | 0
 {src => include/pinocchio}/serialization/spatial.hpp              | 0
 {src => include/pinocchio}/serialization/static-buffer.hpp        | 0
 {src => include/pinocchio}/serialization/symmetric3.hpp           | 0
 {src => include/pinocchio}/serialization/vector.hpp               | 0
 {src => include/pinocchio}/spatial/act-on-set.hpp                 | 0
 {src => include/pinocchio}/spatial/act-on-set.hxx                 | 0
 {src => include/pinocchio}/spatial/cartesian-axis.hpp             | 0
 {src => include/pinocchio}/spatial/explog-quaternion.hpp          | 0
 {src => include/pinocchio}/spatial/explog.hpp                     | 0
 {src => include/pinocchio}/spatial/fcl-pinocchio-conversions.hpp  | 0
 {src => include/pinocchio}/spatial/force-base.hpp                 | 0
 {src => include/pinocchio}/spatial/force-dense.hpp                | 0
 {src => include/pinocchio}/spatial/force-ref.hpp                  | 0
 {src => include/pinocchio}/spatial/force-tpl.hpp                  | 0
 {src => include/pinocchio}/spatial/force.hpp                      | 0
 {src => include/pinocchio}/spatial/fwd.hpp                        | 0
 {src => include/pinocchio}/spatial/inertia.hpp                    | 0
 {src => include/pinocchio}/spatial/log.hpp                        | 0
 {src => include/pinocchio}/spatial/log.hxx                        | 0
 {src => include/pinocchio}/spatial/motion-base.hpp                | 0
 {src => include/pinocchio}/spatial/motion-dense.hpp               | 0
 {src => include/pinocchio}/spatial/motion-ref.hpp                 | 0
 {src => include/pinocchio}/spatial/motion-tpl.hpp                 | 0
 {src => include/pinocchio}/spatial/motion-zero.hpp                | 0
 {src => include/pinocchio}/spatial/motion.hpp                     | 0
 {src => include/pinocchio}/spatial/se3-base.hpp                   | 0
 {src => include/pinocchio}/spatial/se3-tpl.hpp                    | 0
 {src => include/pinocchio}/spatial/se3.hpp                        | 0
 {src => include/pinocchio}/spatial/skew.hpp                       | 0
 {src => include/pinocchio}/spatial/spatial-axis.hpp               | 0
 {src => include/pinocchio}/spatial/symmetric3.hpp                 | 0
 {src => include/pinocchio}/utils/axis-label.hpp                   | 0
 {src => include/pinocchio}/utils/cast.hpp                         | 0
 {src => include/pinocchio}/utils/eigen-fix.hpp                    | 0
 {src => include/pinocchio}/utils/file-explorer.hpp                | 0
 {src => include/pinocchio}/utils/helpers.hpp                      | 0
 {src => include/pinocchio}/utils/openmp.hpp                       | 0
 {src => include/pinocchio}/utils/static-if.hpp                    | 0
 {src => include/pinocchio}/utils/string-generator.hpp             | 0
 {src => include/pinocchio}/utils/timer.hpp                        | 0
 {src => include/pinocchio}/utils/version.hpp                      | 0
 272 files changed, 0 insertions(+), 0 deletions(-)
 rename {src => include/pinocchio}/algorithm/aba-derivatives.hpp (100%)
 rename {src => include/pinocchio}/algorithm/aba-derivatives.hxx (100%)
 rename {src => include/pinocchio}/algorithm/aba.hpp (100%)
 rename {src => include/pinocchio}/algorithm/aba.hxx (100%)
 rename {src => include/pinocchio}/algorithm/center-of-mass-derivatives.hpp (100%)
 rename {src => include/pinocchio}/algorithm/center-of-mass-derivatives.hxx (100%)
 rename {src => include/pinocchio}/algorithm/center-of-mass.hpp (100%)
 rename {src => include/pinocchio}/algorithm/center-of-mass.hxx (100%)
 rename {src => include/pinocchio}/algorithm/centroidal-derivatives.hpp (100%)
 rename {src => include/pinocchio}/algorithm/centroidal-derivatives.hxx (100%)
 rename {src => include/pinocchio}/algorithm/centroidal.hpp (100%)
 rename {src => include/pinocchio}/algorithm/centroidal.hxx (100%)
 rename {src => include/pinocchio}/algorithm/check.hpp (100%)
 rename {src => include/pinocchio}/algorithm/check.hxx (100%)
 rename {src => include/pinocchio}/algorithm/cholesky.hpp (100%)
 rename {src => include/pinocchio}/algorithm/cholesky.hxx (100%)
 rename {src => include/pinocchio}/algorithm/compute-all-terms.hpp (100%)
 rename {src => include/pinocchio}/algorithm/compute-all-terms.hxx (100%)
 rename {src => include/pinocchio}/algorithm/contact-dynamics.hpp (100%)
 rename {src => include/pinocchio}/algorithm/contact-dynamics.hxx (100%)
 rename {src => include/pinocchio}/algorithm/copy.hpp (100%)
 rename {src => include/pinocchio}/algorithm/crba.hpp (100%)
 rename {src => include/pinocchio}/algorithm/crba.hxx (100%)
 rename {src => include/pinocchio}/algorithm/default-check.hpp (100%)
 rename {src => include/pinocchio}/algorithm/dynamics.hpp (100%)
 rename {src => include/pinocchio}/algorithm/energy.hpp (100%)
 rename {src => include/pinocchio}/algorithm/energy.hxx (100%)
 rename {src => include/pinocchio}/algorithm/frames-derivatives.hpp (100%)
 rename {src => include/pinocchio}/algorithm/frames-derivatives.hxx (100%)
 rename {src => include/pinocchio}/algorithm/frames.hpp (100%)
 rename {src => include/pinocchio}/algorithm/frames.hxx (100%)
 rename {src => include/pinocchio}/algorithm/geometry.hpp (100%)
 rename {src => include/pinocchio}/algorithm/geometry.hxx (100%)
 rename {src => include/pinocchio}/algorithm/jacobian.hpp (100%)
 rename {src => include/pinocchio}/algorithm/jacobian.hxx (100%)
 rename {src => include/pinocchio}/algorithm/joint-configuration.hpp (100%)
 rename {src => include/pinocchio}/algorithm/joint-configuration.hxx (100%)
 rename {src => include/pinocchio}/algorithm/kinematics-derivatives.hpp (100%)
 rename {src => include/pinocchio}/algorithm/kinematics-derivatives.hxx (100%)
 rename {src => include/pinocchio}/algorithm/kinematics.hpp (100%)
 rename {src => include/pinocchio}/algorithm/kinematics.hxx (100%)
 rename {src => include/pinocchio}/algorithm/model.hpp (100%)
 rename {src => include/pinocchio}/algorithm/model.hxx (100%)
 rename {src => include/pinocchio}/algorithm/parallel/aba.hpp (100%)
 rename {src => include/pinocchio}/algorithm/parallel/geometry.hpp (100%)
 rename {src => include/pinocchio}/algorithm/parallel/rnea.hpp (100%)
 rename {src => include/pinocchio}/algorithm/regressor.hpp (100%)
 rename {src => include/pinocchio}/algorithm/regressor.hxx (100%)
 rename {src => include/pinocchio}/algorithm/rnea-derivatives.hpp (100%)
 rename {src => include/pinocchio}/algorithm/rnea-derivatives.hxx (100%)
 rename {src => include/pinocchio}/algorithm/rnea-second-order-derivatives.hpp (100%)
 rename {src => include/pinocchio}/algorithm/rnea-second-order-derivatives.hxx (100%)
 rename {src => include/pinocchio}/algorithm/rnea.hpp (100%)
 rename {src => include/pinocchio}/algorithm/rnea.hxx (100%)
 rename {src => include/pinocchio}/autodiff/casadi.hpp (100%)
 rename {src => include/pinocchio}/autodiff/casadi/math/matrix.hpp (100%)
 rename {src => include/pinocchio}/autodiff/casadi/math/quaternion.hpp (100%)
 rename {src => include/pinocchio}/autodiff/casadi/spatial/se3-tpl.hpp (100%)
 rename {src => include/pinocchio}/autodiff/casadi/utils/static-if.hpp (100%)
 rename {src => include/pinocchio}/autodiff/cppad.hpp (100%)
 rename {src => include/pinocchio}/autodiff/cppad/algorithm/aba.hpp (100%)
 rename {src => include/pinocchio}/autodiff/cppad/math/eigen_plugin.hpp (100%)
 rename {src => include/pinocchio}/autodiff/cppad/math/quaternion.hpp (100%)
 rename {src => include/pinocchio}/autodiff/cppad/spatial/log.hxx (100%)
 rename {src => include/pinocchio}/autodiff/cppad/spatial/se3-tpl.hpp (100%)
 rename {src => include/pinocchio}/autodiff/cppad/utils/static-if.hpp (100%)
 rename {bindings => include/pinocchio/bindings}/python/algorithm/algorithms.hpp (100%)
 rename {bindings => include/pinocchio/bindings}/python/fwd.hpp (100%)
 rename {bindings => include/pinocchio/bindings}/python/multibody/data.hpp (100%)
 rename {bindings => include/pinocchio/bindings}/python/multibody/fcl/transform.hpp (100%)
 rename {bindings => include/pinocchio/bindings}/python/multibody/frame.hpp (100%)
 rename {bindings => include/pinocchio/bindings}/python/multibody/geometry-data.hpp (100%)
 rename {bindings => include/pinocchio/bindings}/python/multibody/geometry-model.hpp (100%)
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diff --git a/src/algorithm/aba-derivatives.hpp b/include/pinocchio/algorithm/aba-derivatives.hpp
similarity index 100%
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diff --git a/src/algorithm/center-of-mass-derivatives.hpp b/include/pinocchio/algorithm/center-of-mass-derivatives.hpp
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diff --git a/src/algorithm/centroidal-derivatives.hpp b/include/pinocchio/algorithm/centroidal-derivatives.hpp
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rename from src/algorithm/compute-all-terms.hxx
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diff --git a/src/algorithm/contact-dynamics.hpp b/include/pinocchio/algorithm/contact-dynamics.hpp
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rename from src/algorithm/joint-configuration.hxx
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rename from src/algorithm/kinematics-derivatives.hxx
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diff --git a/src/algorithm/parallel/aba.hpp b/include/pinocchio/algorithm/parallel/aba.hpp
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diff --git a/src/algorithm/regressor.hpp b/include/pinocchio/algorithm/regressor.hpp
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diff --git a/src/autodiff/cppad.hpp b/include/pinocchio/autodiff/cppad.hpp
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diff --git a/src/autodiff/cppad/algorithm/aba.hpp b/include/pinocchio/autodiff/cppad/algorithm/aba.hpp
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diff --git a/src/autodiff/cppad/spatial/log.hxx b/include/pinocchio/autodiff/cppad/spatial/log.hxx
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diff --git a/src/autodiff/cppad/spatial/se3-tpl.hpp b/include/pinocchio/autodiff/cppad/spatial/se3-tpl.hpp
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rename from src/autodiff/cppad/spatial/se3-tpl.hpp
rename to include/pinocchio/autodiff/cppad/spatial/se3-tpl.hpp
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rename from src/autodiff/cppad/utils/static-if.hpp
rename to include/pinocchio/autodiff/cppad/utils/static-if.hpp
diff --git a/bindings/python/algorithm/algorithms.hpp b/include/pinocchio/bindings/python/algorithm/algorithms.hpp
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rename from bindings/python/algorithm/algorithms.hpp
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diff --git a/bindings/python/fwd.hpp b/include/pinocchio/bindings/python/fwd.hpp
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diff --git a/bindings/python/multibody/data.hpp b/include/pinocchio/bindings/python/multibody/data.hpp
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diff --git a/bindings/python/multibody/fcl/transform.hpp b/include/pinocchio/bindings/python/multibody/fcl/transform.hpp
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rename from bindings/python/multibody/fcl/transform.hpp
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rename from bindings/python/multibody/frame.hpp
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diff --git a/bindings/python/multibody/geometry-data.hpp b/include/pinocchio/bindings/python/multibody/geometry-data.hpp
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rename from bindings/python/multibody/geometry-data.hpp
rename to include/pinocchio/bindings/python/multibody/geometry-data.hpp
diff --git a/bindings/python/multibody/geometry-model.hpp b/include/pinocchio/bindings/python/multibody/geometry-model.hpp
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rename from bindings/python/multibody/geometry-model.hpp
rename to include/pinocchio/bindings/python/multibody/geometry-model.hpp
diff --git a/bindings/python/multibody/geometry-object.hpp b/include/pinocchio/bindings/python/multibody/geometry-object.hpp
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rename from bindings/python/multibody/geometry-object.hpp
rename to include/pinocchio/bindings/python/multibody/geometry-object.hpp
diff --git a/bindings/python/multibody/joint/joint-derived.hpp b/include/pinocchio/bindings/python/multibody/joint/joint-derived.hpp
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rename from bindings/python/multibody/joint/joint-derived.hpp
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diff --git a/bindings/python/multibody/joint/joint.hpp b/include/pinocchio/bindings/python/multibody/joint/joint.hpp
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rename from bindings/python/multibody/joint/joint.hpp
rename to include/pinocchio/bindings/python/multibody/joint/joint.hpp
diff --git a/bindings/python/multibody/joint/joints-datas.hpp b/include/pinocchio/bindings/python/multibody/joint/joints-datas.hpp
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rename from bindings/python/multibody/joint/joints-datas.hpp
rename to include/pinocchio/bindings/python/multibody/joint/joints-datas.hpp
diff --git a/bindings/python/multibody/joint/joints-models.hpp b/include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
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rename from bindings/python/multibody/joint/joints-models.hpp
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diff --git a/bindings/python/multibody/joint/joints-variant.hpp b/include/pinocchio/bindings/python/multibody/joint/joints-variant.hpp
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rename from bindings/python/multibody/joint/joints-variant.hpp
rename to include/pinocchio/bindings/python/multibody/joint/joints-variant.hpp
diff --git a/bindings/python/multibody/liegroups.hpp b/include/pinocchio/bindings/python/multibody/liegroups.hpp
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rename from bindings/python/multibody/liegroups.hpp
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diff --git a/bindings/python/multibody/model.hpp b/include/pinocchio/bindings/python/multibody/model.hpp
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rename from bindings/python/multibody/model.hpp
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diff --git a/bindings/python/multibody/pool/geometry.hpp b/include/pinocchio/bindings/python/multibody/pool/geometry.hpp
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rename from bindings/python/multibody/pool/geometry.hpp
rename to include/pinocchio/bindings/python/multibody/pool/geometry.hpp
diff --git a/bindings/python/multibody/pool/model.hpp b/include/pinocchio/bindings/python/multibody/pool/model.hpp
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rename from bindings/python/multibody/pool/model.hpp
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diff --git a/bindings/python/parsers/python.hpp b/include/pinocchio/bindings/python/parsers/python.hpp
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rename from bindings/python/parsers/python.hpp
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diff --git a/bindings/python/parsers/sample-models.hpp b/include/pinocchio/bindings/python/parsers/sample-models.hpp
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rename from bindings/python/parsers/sample-models.hpp
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diff --git a/bindings/python/parsers/srdf.hpp b/include/pinocchio/bindings/python/parsers/srdf.hpp
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rename from bindings/python/parsers/srdf.hpp
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diff --git a/bindings/python/parsers/urdf.hpp b/include/pinocchio/bindings/python/parsers/urdf.hpp
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diff --git a/bindings/python/pybind11-all.hpp b/include/pinocchio/bindings/python/pybind11-all.hpp
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rename from bindings/python/pybind11-all.hpp
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rename from bindings/python/pybind11.hpp
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diff --git a/bindings/python/serialization/serializable.hpp b/include/pinocchio/bindings/python/serialization/serializable.hpp
old mode 100755
new mode 100644
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rename from bindings/python/serialization/serializable.hpp
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diff --git a/bindings/python/serialization/serialization.hpp b/include/pinocchio/bindings/python/serialization/serialization.hpp
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rename from bindings/python/serialization/serialization.hpp
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diff --git a/bindings/python/spatial/explog.hpp b/include/pinocchio/bindings/python/spatial/explog.hpp
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rename from bindings/python/spatial/explog.hpp
rename to include/pinocchio/bindings/python/spatial/explog.hpp
diff --git a/bindings/python/spatial/force.hpp b/include/pinocchio/bindings/python/spatial/force.hpp
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rename from bindings/python/spatial/force.hpp
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diff --git a/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp
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rename from bindings/python/spatial/inertia.hpp
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diff --git a/bindings/python/spatial/motion.hpp b/include/pinocchio/bindings/python/spatial/motion.hpp
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rename from bindings/python/spatial/motion.hpp
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diff --git a/bindings/python/spatial/se3.hpp b/include/pinocchio/bindings/python/spatial/se3.hpp
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rename from bindings/python/spatial/se3.hpp
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diff --git a/bindings/python/utils/constant.hpp b/include/pinocchio/bindings/python/utils/constant.hpp
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diff --git a/bindings/python/utils/conversions.hpp b/include/pinocchio/bindings/python/utils/conversions.hpp
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rename from bindings/python/utils/conversions.hpp
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diff --git a/bindings/python/utils/copyable.hpp b/include/pinocchio/bindings/python/utils/copyable.hpp
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rename from bindings/python/utils/copyable.hpp
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diff --git a/bindings/python/utils/dependencies.hpp b/include/pinocchio/bindings/python/utils/dependencies.hpp
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diff --git a/bindings/python/utils/deprecation.hpp b/include/pinocchio/bindings/python/utils/deprecation.hpp
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diff --git a/bindings/python/utils/eigen.hpp b/include/pinocchio/bindings/python/utils/eigen.hpp
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diff --git a/bindings/python/utils/list.hpp b/include/pinocchio/bindings/python/utils/list.hpp
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diff --git a/src/math/casadi.hpp b/include/pinocchio/math/casadi.hpp
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diff --git a/src/multibody/constraint.hpp b/include/pinocchio/multibody/constraint.hpp
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rename from src/multibody/constraint.hpp
rename to include/pinocchio/multibody/constraint.hpp
diff --git a/src/multibody/data.hpp b/include/pinocchio/multibody/data.hpp
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rename from src/multibody/data.hpp
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diff --git a/src/multibody/data.hxx b/include/pinocchio/multibody/data.hxx
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rename from src/multibody/data.hxx
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diff --git a/src/multibody/fcl.hpp b/include/pinocchio/multibody/fcl.hpp
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rename from src/multibody/fcl.hpp
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rename from src/multibody/fcl.hxx
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diff --git a/src/multibody/force-set.hpp b/include/pinocchio/multibody/force-set.hpp
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rename from src/multibody/force-set.hpp
rename to include/pinocchio/multibody/force-set.hpp
diff --git a/src/multibody/frame.hpp b/include/pinocchio/multibody/frame.hpp
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rename from src/multibody/frame.hpp
rename to include/pinocchio/multibody/frame.hpp
diff --git a/src/multibody/fwd.hpp b/include/pinocchio/multibody/fwd.hpp
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rename from src/multibody/fwd.hpp
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diff --git a/src/multibody/geometry.hpp b/include/pinocchio/multibody/geometry.hpp
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rename from src/multibody/geometry.hpp
rename to include/pinocchio/multibody/geometry.hpp
diff --git a/src/multibody/geometry.hxx b/include/pinocchio/multibody/geometry.hxx
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rename from src/multibody/geometry.hxx
rename to include/pinocchio/multibody/geometry.hxx
diff --git a/src/multibody/joint/fwd.hpp b/include/pinocchio/multibody/joint/fwd.hpp
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rename from src/multibody/joint/fwd.hpp
rename to include/pinocchio/multibody/joint/fwd.hpp
diff --git a/src/multibody/joint/joint-base.hpp b/include/pinocchio/multibody/joint/joint-base.hpp
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rename from src/multibody/joint/joint-base.hpp
rename to include/pinocchio/multibody/joint/joint-base.hpp
diff --git a/src/multibody/joint/joint-basic-visitors.hpp b/include/pinocchio/multibody/joint/joint-basic-visitors.hpp
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rename from src/multibody/joint/joint-basic-visitors.hpp
rename to include/pinocchio/multibody/joint/joint-basic-visitors.hpp
diff --git a/src/multibody/joint/joint-basic-visitors.hxx b/include/pinocchio/multibody/joint/joint-basic-visitors.hxx
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rename from src/multibody/joint/joint-basic-visitors.hxx
rename to include/pinocchio/multibody/joint/joint-basic-visitors.hxx
diff --git a/src/multibody/joint/joint-collection.hpp b/include/pinocchio/multibody/joint/joint-collection.hpp
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rename from src/multibody/joint/joint-collection.hpp
rename to include/pinocchio/multibody/joint/joint-collection.hpp
diff --git a/src/multibody/joint/joint-common-operations.hpp b/include/pinocchio/multibody/joint/joint-common-operations.hpp
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rename from src/multibody/joint/joint-common-operations.hpp
rename to include/pinocchio/multibody/joint/joint-common-operations.hpp
diff --git a/src/multibody/joint/joint-composite.hpp b/include/pinocchio/multibody/joint/joint-composite.hpp
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rename from src/multibody/joint/joint-composite.hpp
rename to include/pinocchio/multibody/joint/joint-composite.hpp
diff --git a/src/multibody/joint/joint-composite.hxx b/include/pinocchio/multibody/joint/joint-composite.hxx
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rename from src/multibody/joint/joint-composite.hxx
rename to include/pinocchio/multibody/joint/joint-composite.hxx
diff --git a/src/multibody/joint/joint-data-base.hpp b/include/pinocchio/multibody/joint/joint-data-base.hpp
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rename from src/multibody/joint/joint-data-base.hpp
rename to include/pinocchio/multibody/joint/joint-data-base.hpp
diff --git a/src/multibody/joint/joint-free-flyer.hpp b/include/pinocchio/multibody/joint/joint-free-flyer.hpp
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rename from src/multibody/joint/joint-free-flyer.hpp
rename to include/pinocchio/multibody/joint/joint-free-flyer.hpp
diff --git a/src/multibody/joint/joint-generic.hpp b/include/pinocchio/multibody/joint/joint-generic.hpp
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rename from src/multibody/joint/joint-generic.hpp
rename to include/pinocchio/multibody/joint/joint-generic.hpp
diff --git a/src/multibody/joint/joint-mimic.hpp b/include/pinocchio/multibody/joint/joint-mimic.hpp
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rename from src/multibody/joint/joint-mimic.hpp
rename to include/pinocchio/multibody/joint/joint-mimic.hpp
diff --git a/src/multibody/joint/joint-model-base.hpp b/include/pinocchio/multibody/joint/joint-model-base.hpp
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rename from src/multibody/joint/joint-model-base.hpp
rename to include/pinocchio/multibody/joint/joint-model-base.hpp
diff --git a/src/multibody/joint/joint-planar.hpp b/include/pinocchio/multibody/joint/joint-planar.hpp
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rename from src/multibody/joint/joint-planar.hpp
rename to include/pinocchio/multibody/joint/joint-planar.hpp
diff --git a/src/multibody/joint/joint-prismatic-unaligned.hpp b/include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
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rename from src/multibody/joint/joint-prismatic-unaligned.hpp
rename to include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
diff --git a/src/multibody/joint/joint-prismatic.hpp b/include/pinocchio/multibody/joint/joint-prismatic.hpp
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rename from src/multibody/joint/joint-prismatic.hpp
rename to include/pinocchio/multibody/joint/joint-prismatic.hpp
diff --git a/src/multibody/joint/joint-revolute-unaligned.hpp b/include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
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rename from src/multibody/joint/joint-revolute-unaligned.hpp
rename to include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
diff --git a/src/multibody/joint/joint-revolute-unbounded-unaligned.hpp b/include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp
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rename from src/multibody/joint/joint-revolute-unbounded-unaligned.hpp
rename to include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp
diff --git a/src/multibody/joint/joint-revolute-unbounded.hpp b/include/pinocchio/multibody/joint/joint-revolute-unbounded.hpp
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rename from src/multibody/joint/joint-revolute-unbounded.hpp
rename to include/pinocchio/multibody/joint/joint-revolute-unbounded.hpp
diff --git a/src/multibody/joint/joint-revolute.hpp b/include/pinocchio/multibody/joint/joint-revolute.hpp
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rename from src/multibody/joint/joint-revolute.hpp
rename to include/pinocchio/multibody/joint/joint-revolute.hpp
diff --git a/src/multibody/joint/joint-spherical-ZYX.hpp b/include/pinocchio/multibody/joint/joint-spherical-ZYX.hpp
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rename from src/multibody/joint/joint-spherical-ZYX.hpp
rename to include/pinocchio/multibody/joint/joint-spherical-ZYX.hpp
diff --git a/src/multibody/joint/joint-spherical.hpp b/include/pinocchio/multibody/joint/joint-spherical.hpp
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rename from src/multibody/joint/joint-spherical.hpp
rename to include/pinocchio/multibody/joint/joint-spherical.hpp
diff --git a/src/multibody/joint/joint-translation.hpp b/include/pinocchio/multibody/joint/joint-translation.hpp
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rename from src/multibody/joint/joint-translation.hpp
rename to include/pinocchio/multibody/joint/joint-translation.hpp
diff --git a/src/multibody/joint/joints.hpp b/include/pinocchio/multibody/joint/joints.hpp
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rename from src/multibody/joint/joints.hpp
rename to include/pinocchio/multibody/joint/joints.hpp
diff --git a/src/multibody/liegroup/cartesian-product-variant.hpp b/include/pinocchio/multibody/liegroup/cartesian-product-variant.hpp
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rename from src/multibody/liegroup/cartesian-product-variant.hpp
rename to include/pinocchio/multibody/liegroup/cartesian-product-variant.hpp
diff --git a/src/multibody/liegroup/cartesian-product-variant.hxx b/include/pinocchio/multibody/liegroup/cartesian-product-variant.hxx
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rename from src/multibody/liegroup/cartesian-product-variant.hxx
rename to include/pinocchio/multibody/liegroup/cartesian-product-variant.hxx
diff --git a/src/multibody/liegroup/cartesian-product.hpp b/include/pinocchio/multibody/liegroup/cartesian-product.hpp
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rename from src/multibody/liegroup/cartesian-product.hpp
rename to include/pinocchio/multibody/liegroup/cartesian-product.hpp
diff --git a/src/multibody/liegroup/fwd.hpp b/include/pinocchio/multibody/liegroup/fwd.hpp
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rename from src/multibody/liegroup/fwd.hpp
rename to include/pinocchio/multibody/liegroup/fwd.hpp
diff --git a/src/multibody/liegroup/liegroup-algo.hpp b/include/pinocchio/multibody/liegroup/liegroup-algo.hpp
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rename from src/multibody/liegroup/liegroup-algo.hpp
rename to include/pinocchio/multibody/liegroup/liegroup-algo.hpp
diff --git a/src/multibody/liegroup/liegroup-algo.hxx b/include/pinocchio/multibody/liegroup/liegroup-algo.hxx
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rename from src/multibody/liegroup/liegroup-algo.hxx
rename to include/pinocchio/multibody/liegroup/liegroup-algo.hxx
diff --git a/src/multibody/liegroup/liegroup-base.hpp b/include/pinocchio/multibody/liegroup/liegroup-base.hpp
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rename from src/multibody/liegroup/liegroup-base.hpp
rename to include/pinocchio/multibody/liegroup/liegroup-base.hpp
diff --git a/src/multibody/liegroup/liegroup-base.hxx b/include/pinocchio/multibody/liegroup/liegroup-base.hxx
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rename from src/multibody/liegroup/liegroup-base.hxx
rename to include/pinocchio/multibody/liegroup/liegroup-base.hxx
diff --git a/src/multibody/liegroup/liegroup-collection.hpp b/include/pinocchio/multibody/liegroup/liegroup-collection.hpp
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rename from src/multibody/liegroup/liegroup-collection.hpp
rename to include/pinocchio/multibody/liegroup/liegroup-collection.hpp
diff --git a/src/multibody/liegroup/liegroup-generic.hpp b/include/pinocchio/multibody/liegroup/liegroup-generic.hpp
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rename from src/multibody/liegroup/liegroup-generic.hpp
rename to include/pinocchio/multibody/liegroup/liegroup-generic.hpp
diff --git a/src/multibody/liegroup/liegroup-variant-visitors.hpp b/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hpp
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rename from src/multibody/liegroup/liegroup-variant-visitors.hpp
rename to include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hpp
diff --git a/src/multibody/liegroup/liegroup-variant-visitors.hxx b/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx
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rename from src/multibody/liegroup/liegroup-variant-visitors.hxx
rename to include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx
diff --git a/src/multibody/liegroup/liegroup.hpp b/include/pinocchio/multibody/liegroup/liegroup.hpp
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rename from src/multibody/liegroup/liegroup.hpp
rename to include/pinocchio/multibody/liegroup/liegroup.hpp
diff --git a/src/multibody/liegroup/special-euclidean.hpp b/include/pinocchio/multibody/liegroup/special-euclidean.hpp
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rename from src/multibody/liegroup/special-euclidean.hpp
rename to include/pinocchio/multibody/liegroup/special-euclidean.hpp
diff --git a/src/multibody/liegroup/special-orthogonal.hpp b/include/pinocchio/multibody/liegroup/special-orthogonal.hpp
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rename from src/multibody/liegroup/special-orthogonal.hpp
rename to include/pinocchio/multibody/liegroup/special-orthogonal.hpp
diff --git a/src/multibody/liegroup/vector-space.hpp b/include/pinocchio/multibody/liegroup/vector-space.hpp
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rename from src/multibody/liegroup/vector-space.hpp
rename to include/pinocchio/multibody/liegroup/vector-space.hpp
diff --git a/src/multibody/model.hpp b/include/pinocchio/multibody/model.hpp
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diff --git a/src/multibody/model.hxx b/include/pinocchio/multibody/model.hxx
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rename from src/multibody/model.hxx
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diff --git a/src/multibody/pool/geometry.hpp b/include/pinocchio/multibody/pool/geometry.hpp
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rename from src/multibody/pool/geometry.hpp
rename to include/pinocchio/multibody/pool/geometry.hpp
diff --git a/src/multibody/pool/model.hpp b/include/pinocchio/multibody/pool/model.hpp
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rename from src/multibody/pool/model.hpp
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diff --git a/src/multibody/visitor.hpp b/include/pinocchio/multibody/visitor.hpp
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rename from src/multibody/visitor.hpp
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diff --git a/src/multibody/visitor/fusion.hpp b/include/pinocchio/multibody/visitor/fusion.hpp
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rename from src/multibody/visitor/fusion.hpp
rename to include/pinocchio/multibody/visitor/fusion.hpp
diff --git a/src/multibody/visitor/joint-binary-visitor.hpp b/include/pinocchio/multibody/visitor/joint-binary-visitor.hpp
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rename from src/multibody/visitor/joint-binary-visitor.hpp
rename to include/pinocchio/multibody/visitor/joint-binary-visitor.hpp
diff --git a/src/multibody/visitor/joint-unary-visitor.hpp b/include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
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rename from src/multibody/visitor/joint-unary-visitor.hpp
rename to include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
diff --git a/src/parsers/sample-models.hpp b/include/pinocchio/parsers/sample-models.hpp
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rename to include/pinocchio/parsers/sample-models.hpp
diff --git a/src/parsers/sample-models.hxx b/include/pinocchio/parsers/sample-models.hxx
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rename from src/parsers/sample-models.hxx
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diff --git a/src/parsers/srdf.hpp b/include/pinocchio/parsers/srdf.hpp
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diff --git a/src/parsers/urdf.hpp b/include/pinocchio/parsers/urdf.hpp
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diff --git a/src/parsers/urdf/geometry.hxx b/include/pinocchio/parsers/urdf/geometry.hxx
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diff --git a/src/parsers/urdf/model.hxx b/include/pinocchio/parsers/urdf/model.hxx
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rename from src/parsers/urdf/model.hxx
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diff --git a/src/parsers/urdf/types.hpp b/include/pinocchio/parsers/urdf/types.hpp
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diff --git a/src/parsers/urdf/utils.hpp b/include/pinocchio/parsers/urdf/utils.hpp
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diff --git a/src/serialization/aligned-vector.hpp b/include/pinocchio/serialization/aligned-vector.hpp
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diff --git a/src/serialization/archive.hpp b/include/pinocchio/serialization/archive.hpp
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diff --git a/src/serialization/data.hpp b/include/pinocchio/serialization/data.hpp
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diff --git a/src/serialization/eigen.hpp b/include/pinocchio/serialization/eigen.hpp
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diff --git a/src/serialization/force.hpp b/include/pinocchio/serialization/force.hpp
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diff --git a/src/serialization/frame.hpp b/include/pinocchio/serialization/frame.hpp
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diff --git a/src/serialization/fwd.hpp b/include/pinocchio/serialization/fwd.hpp
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new mode 100644
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diff --git a/src/serialization/geometry.hpp b/include/pinocchio/serialization/geometry.hpp
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rename from src/serialization/geometry.hpp
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diff --git a/src/serialization/inertia.hpp b/include/pinocchio/serialization/inertia.hpp
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rename from src/serialization/inertia.hpp
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diff --git a/src/serialization/joints-constraint.hpp b/include/pinocchio/serialization/joints-constraint.hpp
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rename from src/serialization/joints-constraint.hpp
rename to include/pinocchio/serialization/joints-constraint.hpp
diff --git a/src/serialization/joints-data.hpp b/include/pinocchio/serialization/joints-data.hpp
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rename from src/serialization/joints-data.hpp
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diff --git a/src/serialization/joints-model.hpp b/include/pinocchio/serialization/joints-model.hpp
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rename from src/serialization/joints-model.hpp
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diff --git a/src/serialization/joints-motion.hpp b/include/pinocchio/serialization/joints-motion.hpp
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rename from src/serialization/joints-motion.hpp
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diff --git a/src/serialization/joints-transform.hpp b/include/pinocchio/serialization/joints-transform.hpp
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rename from src/serialization/joints-transform.hpp
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rename from src/serialization/joints.hpp
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diff --git a/src/serialization/model.hpp b/include/pinocchio/serialization/model.hpp
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diff --git a/src/serialization/motion.hpp b/include/pinocchio/serialization/motion.hpp
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diff --git a/src/serialization/se3.hpp b/include/pinocchio/serialization/se3.hpp
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diff --git a/src/serialization/serializable.hpp b/include/pinocchio/serialization/serializable.hpp
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diff --git a/src/spatial/force-base.hpp b/include/pinocchio/spatial/force-base.hpp
similarity index 100%
rename from src/spatial/force-base.hpp
rename to include/pinocchio/spatial/force-base.hpp
diff --git a/src/spatial/force-dense.hpp b/include/pinocchio/spatial/force-dense.hpp
similarity index 100%
rename from src/spatial/force-dense.hpp
rename to include/pinocchio/spatial/force-dense.hpp
diff --git a/src/spatial/force-ref.hpp b/include/pinocchio/spatial/force-ref.hpp
similarity index 100%
rename from src/spatial/force-ref.hpp
rename to include/pinocchio/spatial/force-ref.hpp
diff --git a/src/spatial/force-tpl.hpp b/include/pinocchio/spatial/force-tpl.hpp
similarity index 100%
rename from src/spatial/force-tpl.hpp
rename to include/pinocchio/spatial/force-tpl.hpp
diff --git a/src/spatial/force.hpp b/include/pinocchio/spatial/force.hpp
similarity index 100%
rename from src/spatial/force.hpp
rename to include/pinocchio/spatial/force.hpp
diff --git a/src/spatial/fwd.hpp b/include/pinocchio/spatial/fwd.hpp
similarity index 100%
rename from src/spatial/fwd.hpp
rename to include/pinocchio/spatial/fwd.hpp
diff --git a/src/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp
similarity index 100%
rename from src/spatial/inertia.hpp
rename to include/pinocchio/spatial/inertia.hpp
diff --git a/src/spatial/log.hpp b/include/pinocchio/spatial/log.hpp
similarity index 100%
rename from src/spatial/log.hpp
rename to include/pinocchio/spatial/log.hpp
diff --git a/src/spatial/log.hxx b/include/pinocchio/spatial/log.hxx
similarity index 100%
rename from src/spatial/log.hxx
rename to include/pinocchio/spatial/log.hxx
diff --git a/src/spatial/motion-base.hpp b/include/pinocchio/spatial/motion-base.hpp
similarity index 100%
rename from src/spatial/motion-base.hpp
rename to include/pinocchio/spatial/motion-base.hpp
diff --git a/src/spatial/motion-dense.hpp b/include/pinocchio/spatial/motion-dense.hpp
similarity index 100%
rename from src/spatial/motion-dense.hpp
rename to include/pinocchio/spatial/motion-dense.hpp
diff --git a/src/spatial/motion-ref.hpp b/include/pinocchio/spatial/motion-ref.hpp
similarity index 100%
rename from src/spatial/motion-ref.hpp
rename to include/pinocchio/spatial/motion-ref.hpp
diff --git a/src/spatial/motion-tpl.hpp b/include/pinocchio/spatial/motion-tpl.hpp
similarity index 100%
rename from src/spatial/motion-tpl.hpp
rename to include/pinocchio/spatial/motion-tpl.hpp
diff --git a/src/spatial/motion-zero.hpp b/include/pinocchio/spatial/motion-zero.hpp
similarity index 100%
rename from src/spatial/motion-zero.hpp
rename to include/pinocchio/spatial/motion-zero.hpp
diff --git a/src/spatial/motion.hpp b/include/pinocchio/spatial/motion.hpp
similarity index 100%
rename from src/spatial/motion.hpp
rename to include/pinocchio/spatial/motion.hpp
diff --git a/src/spatial/se3-base.hpp b/include/pinocchio/spatial/se3-base.hpp
similarity index 100%
rename from src/spatial/se3-base.hpp
rename to include/pinocchio/spatial/se3-base.hpp
diff --git a/src/spatial/se3-tpl.hpp b/include/pinocchio/spatial/se3-tpl.hpp
similarity index 100%
rename from src/spatial/se3-tpl.hpp
rename to include/pinocchio/spatial/se3-tpl.hpp
diff --git a/src/spatial/se3.hpp b/include/pinocchio/spatial/se3.hpp
similarity index 100%
rename from src/spatial/se3.hpp
rename to include/pinocchio/spatial/se3.hpp
diff --git a/src/spatial/skew.hpp b/include/pinocchio/spatial/skew.hpp
similarity index 100%
rename from src/spatial/skew.hpp
rename to include/pinocchio/spatial/skew.hpp
diff --git a/src/spatial/spatial-axis.hpp b/include/pinocchio/spatial/spatial-axis.hpp
similarity index 100%
rename from src/spatial/spatial-axis.hpp
rename to include/pinocchio/spatial/spatial-axis.hpp
diff --git a/src/spatial/symmetric3.hpp b/include/pinocchio/spatial/symmetric3.hpp
similarity index 100%
rename from src/spatial/symmetric3.hpp
rename to include/pinocchio/spatial/symmetric3.hpp
diff --git a/src/utils/axis-label.hpp b/include/pinocchio/utils/axis-label.hpp
similarity index 100%
rename from src/utils/axis-label.hpp
rename to include/pinocchio/utils/axis-label.hpp
diff --git a/src/utils/cast.hpp b/include/pinocchio/utils/cast.hpp
similarity index 100%
rename from src/utils/cast.hpp
rename to include/pinocchio/utils/cast.hpp
diff --git a/src/utils/eigen-fix.hpp b/include/pinocchio/utils/eigen-fix.hpp
similarity index 100%
rename from src/utils/eigen-fix.hpp
rename to include/pinocchio/utils/eigen-fix.hpp
diff --git a/src/utils/file-explorer.hpp b/include/pinocchio/utils/file-explorer.hpp
similarity index 100%
rename from src/utils/file-explorer.hpp
rename to include/pinocchio/utils/file-explorer.hpp
diff --git a/src/utils/helpers.hpp b/include/pinocchio/utils/helpers.hpp
similarity index 100%
rename from src/utils/helpers.hpp
rename to include/pinocchio/utils/helpers.hpp
diff --git a/src/utils/openmp.hpp b/include/pinocchio/utils/openmp.hpp
similarity index 100%
rename from src/utils/openmp.hpp
rename to include/pinocchio/utils/openmp.hpp
diff --git a/src/utils/static-if.hpp b/include/pinocchio/utils/static-if.hpp
similarity index 100%
rename from src/utils/static-if.hpp
rename to include/pinocchio/utils/static-if.hpp
diff --git a/src/utils/string-generator.hpp b/include/pinocchio/utils/string-generator.hpp
similarity index 100%
rename from src/utils/string-generator.hpp
rename to include/pinocchio/utils/string-generator.hpp
diff --git a/src/utils/timer.hpp b/include/pinocchio/utils/timer.hpp
similarity index 100%
rename from src/utils/timer.hpp
rename to include/pinocchio/utils/timer.hpp
diff --git a/src/utils/version.hpp b/include/pinocchio/utils/version.hpp
similarity index 100%
rename from src/utils/version.hpp
rename to include/pinocchio/utils/version.hpp

From b2c53471d13e318db60ef96a58a95d1b70f7d909 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@navya.tech>
Date: Wed, 18 Oct 2023 18:01:40 +0200
Subject: [PATCH 02/13] [WIP] Patch CMakeLists.txt to use the new hierarchy

Header installation is broken
---
 CMakeLists.txt                           | 80 ------------------------
 bindings/python/CMakeLists.txt           | 62 ++++++------------
 bindings/python/parsers/python/model.cpp |  2 +-
 src/CMakeLists.txt                       | 31 +++++++++
 unittest/python_parser.cpp               |  2 +-
 5 files changed, 51 insertions(+), 126 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 850cee8650..2a74952f3f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -49,12 +49,6 @@ IF(CMAKE_VERSION VERSION_GREATER "3.12")
   CMAKE_POLICY(SET CMP0074 NEW)
 ENDIF()
 
-IF(WIN32)
-  SET(LINK copy_if_different)
-ELSE(WIN32)
-  SET(LINK create_symlink)
-ENDIF(WIN32)
-
 # --- OPTIONS ----------------------------------------
 OPTION(BUILD_BENCHMARK "Build the benchmarks" OFF)
 OPTION(BUILD_UTILS "Build the utils" OFF)
@@ -210,80 +204,6 @@ ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 ADD_DEFINITIONS(-DBOOST_MPL_LIMIT_LIST_SIZE=30)
 ADD_DEFINITIONS(-DBOOST_MPL_LIMIT_VECTOR_SIZE=30)
 
-# ----------------------------------------------------
-# --- INCLUDE ----------------------------------------
-# ----------------------------------------------------
-FILE(GLOB_RECURSE HEADERS
-     ${PROJECT_SOURCE_DIR}/src/*.hpp
-     ${PROJECT_SOURCE_DIR}/src/*.hxx
-     )
-
-IF(NOT BUILD_WITH_URDF_SUPPORT)
-  LIST(REMOVE_ITEM HEADERS
-    ${PROJECT_SOURCE_DIR}/src/parsers/urdf.hpp
-    ${PROJECT_SOURCE_DIR}/src/parsers/urdf/model.hxx
-    ${PROJECT_SOURCE_DIR}/src/parsers/urdf/geometry.hxx
-    ${PROJECT_SOURCE_DIR}/src/parsers/urdf/utils.hpp
-    ${PROJECT_SOURCE_DIR}/src/parsers/urdf/types.hpp
-    )
-ENDIF(NOT BUILD_WITH_URDF_SUPPORT)
-
-IF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
-  LIST(REMOVE_ITEM HEADERS
-    ${PROJECT_SOURCE_DIR}/src/spatial/fcl-pinocchio-conversions.hpp
-    )
-ENDIF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
-
-LIST(APPEND HEADERS macros.hpp)
-
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/core")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/math")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/spatial")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/multibody")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/multibody/joint")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/multibody/liegroup")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/multibody/pool")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/multibody/visitor")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/parsers")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/parsers/urdf")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/utils")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/serialization")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/algorithm")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/algorithm/parallel")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/container")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/codegen")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/casadi")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/casadi/math")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/casadi/spatial")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/casadi/utils")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/cppad")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/cppad/spatial")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/cppad/math")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/cppad/algorithm")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/cppad/utils")
-
-SET(HEADERS_)
-FOREACH(header ${HEADERS})
-  STRING(REGEX REPLACE "${PROJECT_SOURCE_DIR}/src/" "" header ${header})
-  LIST(APPEND HEADERS_ ${header})
-  GET_FILENAME_COMPONENT(headerName ${header} NAME)
-  GET_FILENAME_COMPONENT(headerPath ${header} PATH)
-  EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E ${LINK}
-    ${${PROJECT_NAME}_SOURCE_DIR}/src/${header}
-    ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/${header})
-  INSTALL(FILES ${${PROJECT_NAME}_SOURCE_DIR}/src/${header}
-          DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}/${headerPath}
-          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
-ENDFOREACH(header)
-SET(HEADERS ${HEADERS_})
-
-LIST(APPEND HEADERS
-     ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/config.hpp
-     ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/deprecated.hpp
-     ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/warning.hpp)
-
 # --- MAIN LIBRARY -------------------------------------------------------------
 ADD_SUBDIRECTORY(src)
 
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index dd75d4eb02..e55db9bc31 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -6,19 +6,6 @@
 include(${JRL_CMAKE_MODULES}/python-helpers.cmake)
 
 # --- MACROS --- #
-MACRO(SYMLINK_AND_INSTALL_HEADERS HEADERS SUBPATH)
-  FOREACH(header ${HEADERS})
-    GET_FILENAME_COMPONENT(headerName ${header} NAME)
-    GET_FILENAME_COMPONENT(headerPath ${header} PATH)
-    EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E ${LINK}
-      ${CMAKE_CURRENT_SOURCE_DIR}/${header}
-      ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/${SUBPATH}/${header})
-
-    INSTALL(FILES ${CMAKE_CURRENT_SOURCE_DIR}/${header}
-      DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}/${SUBPATH}/${headerPath}
-            PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
-  ENDFOREACH(header)
-ENDMACRO(SYMLINK_AND_INSTALL_HEADERS HEADERS SUBPATH)
 
 FUNCTION(REMOVE_PATH_FROM_LIST list_name path_name dest_list)
   SET(list_name_)
@@ -43,24 +30,26 @@ SET(PYWRAP ${PROJECT_NAME}_pywrap)
 SET(PYWRAP ${PYWRAP} PARENT_SCOPE)
 
 FILE(GLOB_RECURSE ${PROJECT_NAME}_PYTHON_HEADERS
-     ${CMAKE_CURRENT_SOURCE_DIR}/*.hpp
-     )
+  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/*.hpp
+  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/*.hxx
+  )
 
 FILE(GLOB_RECURSE ${PROJECT_NAME}_PYTHON_SOURCES
-     ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp
-     )
+  RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
+  ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp
+  )
 
-REMOVE_PATH_FROM_LIST("${${PROJECT_NAME}_PYTHON_HEADERS}" "${CMAKE_CURRENT_SOURCE_DIR}/" ${PROJECT_NAME}_PYTHON_HEADERS)
-REMOVE_PATH_FROM_LIST("${${PROJECT_NAME}_PYTHON_SOURCES}" "${CMAKE_CURRENT_SOURCE_DIR}/" ${PROJECT_NAME}_PYTHON_SOURCES)
+# REMOVE_PATH_FROM_LIST("${${PROJECT_NAME}_PYTHON_HEADERS}" "${CMAKE_CURRENT_SOURCE_DIR}/" ${PROJECT_NAME}_PYTHON_HEADERS)
+# REMOVE_PATH_FROM_LIST("${${PROJECT_NAME}_PYTHON_SOURCES}" "${CMAKE_CURRENT_SOURCE_DIR}/" ${PROJECT_NAME}_PYTHON_SOURCES)
 
 # Parser for Python model
 IF(BUILD_WITH_LIBPYTHON)
   SET(${PROJECT_NAME}_PARSER_PYTHON_HEADERS
-    parsers/python.hpp
+    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/parsers/python.hpp
     )
 ELSE(BUILD_WITH_LIBPYTHON)
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
-    parsers/python.hpp
+    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/parsers/python.hpp
     )
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
     parsers/python/model.cpp
@@ -70,7 +59,7 @@ ENDIF(BUILD_WITH_LIBPYTHON)
 # Python exposition of FCL
 IF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
-    multibody/fcl/transform.hpp
+    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/multibody/fcl/transform.hpp
     )
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
     multibody/fcl/expose-fcl.cpp
@@ -78,9 +67,9 @@ IF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
 ENDIF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
 
 IF(NOT BUILD_WITH_OPENMP_SUPPORT)
-  LIST_FILTER("${${PROJECT_NAME}_PYTHON_HEADERS}" "^multibody/pool" ${PROJECT_NAME}_PYTHON_HEADERS)
+  LIST_FILTER("${${PROJECT_NAME}_PYTHON_HEADERS}" ".*/include/${PROJECT_NAME}/bindings/python/multibody/pool" ${PROJECT_NAME}_PYTHON_HEADERS)
   LIST_FILTER("${${PROJECT_NAME}_PYTHON_SOURCES}" "^multibody/pool" ${PROJECT_NAME}_PYTHON_SOURCES)
-  LIST_FILTER("${${PROJECT_NAME}_PYTHON_HEADERS}" "^algorithm/parallel" ${PROJECT_NAME}_PYTHON_HEADERS)
+  LIST_FILTER("${${PROJECT_NAME}_PYTHON_HEADERS}" ".*/include/${PROJECT_NAME}/bindings/python/algorithm/parallel" ${PROJECT_NAME}_PYTHON_HEADERS)
   LIST_FILTER("${${PROJECT_NAME}_PYTHON_SOURCES}" "^algorithm/parallel" ${PROJECT_NAME}_PYTHON_SOURCES)
   #LIST(FILTER ${PROJECT_NAME}_PYTHON_HEADERS EXCLUDE REGEX "^multibody/pool")
   #LIST(FILTER ${PROJECT_NAME}_PYTHON_SOURCES EXCLUDE REGEX "^multibody/pool")
@@ -88,7 +77,7 @@ IF(NOT BUILD_WITH_OPENMP_SUPPORT)
   #LIST(FILTER ${PROJECT_NAME}_PYTHON_SOURCES EXCLUDE REGEX "^algorithm/parallel")
 ELSE(NOT BUILD_WITH_OPENMP_SUPPORT)
   IF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
-    LIST_FILTER("${${PROJECT_NAME}_PYTHON_HEADERS}" "^multibody/pool/geometry.hpp" ${PROJECT_NAME}_PYTHON_HEADERS)
+    LIST_FILTER("${${PROJECT_NAME}_PYTHON_HEADERS}" ".*/include/${PROJECT_NAME}/bindings/python/multibody/pool/geometry.hpp" ${PROJECT_NAME}_PYTHON_HEADERS)
     LIST_FILTER("${${PROJECT_NAME}_PYTHON_SOURCES}" "^algorithm/parallel/geometry.cpp" ${PROJECT_NAME}_PYTHON_SOURCES)
     #LIST(FILTER ${PROJECT_NAME}_PYTHON_HEADERS EXCLUDE REGEX "^multibody/pool/geometry.hpp")
     #LIST(FILTER ${PROJECT_NAME}_PYTHON_SOURCES EXCLUDE REGEX "^algorithm/parallel/geometry.cpp")
@@ -97,28 +86,13 @@ ENDIF(NOT BUILD_WITH_OPENMP_SUPPORT)
 
 LIST(APPEND HEADERS ${${PROJECT_NAME}_PYTHON_HEADERS})
 
-# Headers of the Python bindings
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/spatial")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/multibody")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/multibody/joint")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/multibody/pool")
-IF(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
-  MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/multibody/fcl")
-ENDIF(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/parsers")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/serialization")
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/algorithm")
-IF(BUILD_WITH_OPENMP_SUPPORT)
-  MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/algorithm/parallel")
-ENDIF(BUILD_WITH_OPENMP_SUPPORT)
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/utils")
-SYMLINK_AND_INSTALL_HEADERS("${${PROJECT_NAME}_PYTHON_HEADERS}" "bindings/python")
 
 # Headers of the Python parser
 IF(BUILD_WITH_LIBPYTHON)
-  MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/parsers/python")
-  SYMLINK_AND_INSTALL_HEADERS("${${PROJECT_NAME}_PARSER_PYTHON_HEADERS}" "")
+  # TODO
+  # INSTALL(FILES ${${PROJECT_NAME}_PARSER_PYTHON_HEADERS}
+  #     DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}/${SUBPATH}/${headerPath}
+  #           PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
 ENDIF(BUILD_WITH_LIBPYTHON)
 
 # --- COMPILE WRAPPER
diff --git a/bindings/python/parsers/python/model.cpp b/bindings/python/parsers/python/model.cpp
index 3757fc0315..31e5719899 100644
--- a/bindings/python/parsers/python/model.cpp
+++ b/bindings/python/parsers/python/model.cpp
@@ -2,7 +2,7 @@
 // Copyright (c) 2016-2023 CNRS INRIA
 //
 
-#include "pinocchio/parsers/python.hpp"
+#include "pinocchio/bindings/python/parsers/python.hpp"
 
 #include <iostream>
 #include <Python.h>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 64f0461165..d24afe1468 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -3,12 +3,39 @@
 # Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 #
 
+# ----------------------------------------------------
+# --- INCLUDE ----------------------------------------
+# ----------------------------------------------------
+
+# Find all headers
+FILE(GLOB_RECURSE HEADERS
+  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/*.hpp
+  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/*.hxx
+  )
+
+# Remove bindings
+LIST(FILTER HEADERS EXCLUDE REGEX "../include/${PROJECT_NAME}/bindings/.*")
+
+# Add generated headers
+LIST(APPEND HEADERS
+     ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/config.hpp
+     ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/deprecated.hpp
+     ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/warning.hpp)
+
 IF(BUILD_WITH_URDF_SUPPORT)
   LIST(APPEND ${PROJECT_NAME}_SOURCES
     parsers/urdf/model.cpp
     parsers/urdf/geometry.cpp
     parsers/urdf/utils.cpp
   )
+ELSE(BUILD_WITH_URDF_SUPPORT)
+  LIST(REMOVE_ITEM HEADERS
+    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/parsers/urdf.hpp
+    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/parsers/urdf/model.hxx
+    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/parsers/urdf/geometry.hxx
+    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/parsers/urdf/utils.hpp
+    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/parsers/urdf/types.hpp
+    )
 ENDIF()
 
 LIST(APPEND ${PROJECT_NAME}_SOURCES utils/file-explorer.cpp)
@@ -29,6 +56,10 @@ ADD_LIBRARY(${PROJECT_NAME}_headers INTERFACE)
 # Exclude parts from hppfcl which is not header only
 IF(BUILD_WITH_HPP_FCL_SUPPORT)
   LIST(REMOVE_ITEM CURRENT_COMPILE_DEFINITIONS PINOCCHIO_WITH_HPP_FCL)
+ELSE(BUILD_WITH_HPP_FCL_SUPPORT)
+  LIST(REMOVE_ITEM HEADERS
+    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/spatial/fcl-pinocchio-conversions.hpp
+    )
 ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 
 TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME}_headers INTERFACE ${CURRENT_COMPILE_DEFINITIONS})
diff --git a/unittest/python_parser.cpp b/unittest/python_parser.cpp
index dd74a88cca..8a47b3ec7c 100644
--- a/unittest/python_parser.cpp
+++ b/unittest/python_parser.cpp
@@ -6,7 +6,7 @@
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
-#include "pinocchio/parsers/python.hpp"
+#include "pinocchio/bindings/python/parsers/python.hpp"
 
 #include <boost/test/unit_test.hpp>
 

From a426f583495622e5e6617e166cbb7e4edee13cc8 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@navya.tech>
Date: Thu, 19 Oct 2023 11:49:49 +0200
Subject: [PATCH 03/13] [WIP] First step to have a working installation

---
 bindings/python/CMakeLists.txt | 65 +++++++++++++---------------------
 src/CMakeLists.txt             | 38 ++++++++++++++------
 2 files changed, 52 insertions(+), 51 deletions(-)

diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index e55db9bc31..a72e8f29d7 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -5,31 +5,12 @@
 
 include(${JRL_CMAKE_MODULES}/python-helpers.cmake)
 
-# --- MACROS --- #
-
-FUNCTION(REMOVE_PATH_FROM_LIST list_name path_name dest_list)
-  SET(list_name_)
-  FOREACH(header ${list_name})
-    STRING(REGEX REPLACE "${path_name}" "" header ${header})
-    LIST(APPEND list_name_ ${header})
-  ENDFOREACH(header ${list_name_})
-  SET(${dest_list} ${list_name_} PARENT_SCOPE)
-ENDFUNCTION(REMOVE_PATH_FROM_LIST)
-
-FUNCTION(LIST_FILTER list regular_expression dest_list)
-  FOREACH(elt ${list})
-    IF(${elt} MATCHES ${regular_expression})
-      LIST(REMOVE_ITEM list ${elt})
-    ENDIF()
-  ENDFOREACH(elt ${list})
-  SET(${dest_list} ${list} PARENT_SCOPE)
-ENDFUNCTION(LIST_FILTER)
-
 # --- PYTHON TARGET --- #
 SET(PYWRAP ${PROJECT_NAME}_pywrap)
 SET(PYWRAP ${PYWRAP} PARENT_SCOPE)
 
 FILE(GLOB_RECURSE ${PROJECT_NAME}_PYTHON_HEADERS
+  RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
   ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/*.hpp
   ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/*.hxx
   )
@@ -39,17 +20,16 @@ FILE(GLOB_RECURSE ${PROJECT_NAME}_PYTHON_SOURCES
   ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp
   )
 
-# REMOVE_PATH_FROM_LIST("${${PROJECT_NAME}_PYTHON_HEADERS}" "${CMAKE_CURRENT_SOURCE_DIR}/" ${PROJECT_NAME}_PYTHON_HEADERS)
-# REMOVE_PATH_FROM_LIST("${${PROJECT_NAME}_PYTHON_SOURCES}" "${CMAKE_CURRENT_SOURCE_DIR}/" ${PROJECT_NAME}_PYTHON_SOURCES)
+SET(SOURCE_HEADERS_ROOT "../../include/${PROJECT_NAME}/bindings/python")
 
 # Parser for Python model
 IF(BUILD_WITH_LIBPYTHON)
   SET(${PROJECT_NAME}_PARSER_PYTHON_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/parsers/python.hpp
+    ${SOURCE_HEADERS_ROOT}/parsers/python.hpp
     )
 ELSE(BUILD_WITH_LIBPYTHON)
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/parsers/python.hpp
+    ${SOURCE_HEADERS_ROOT}/parsers/python.hpp
     )
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
     parsers/python/model.cpp
@@ -59,7 +39,7 @@ ENDIF(BUILD_WITH_LIBPYTHON)
 # Python exposition of FCL
 IF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/multibody/fcl/transform.hpp
+    ${SOURCE_HEADERS_ROOT}/multibody/fcl/transform.hpp
     )
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
     multibody/fcl/expose-fcl.cpp
@@ -67,26 +47,21 @@ IF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
 ENDIF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
 
 IF(NOT BUILD_WITH_OPENMP_SUPPORT)
-  LIST_FILTER("${${PROJECT_NAME}_PYTHON_HEADERS}" ".*/include/${PROJECT_NAME}/bindings/python/multibody/pool" ${PROJECT_NAME}_PYTHON_HEADERS)
-  LIST_FILTER("${${PROJECT_NAME}_PYTHON_SOURCES}" "^multibody/pool" ${PROJECT_NAME}_PYTHON_SOURCES)
-  LIST_FILTER("${${PROJECT_NAME}_PYTHON_HEADERS}" ".*/include/${PROJECT_NAME}/bindings/python/algorithm/parallel" ${PROJECT_NAME}_PYTHON_HEADERS)
-  LIST_FILTER("${${PROJECT_NAME}_PYTHON_SOURCES}" "^algorithm/parallel" ${PROJECT_NAME}_PYTHON_SOURCES)
-  #LIST(FILTER ${PROJECT_NAME}_PYTHON_HEADERS EXCLUDE REGEX "^multibody/pool")
-  #LIST(FILTER ${PROJECT_NAME}_PYTHON_SOURCES EXCLUDE REGEX "^multibody/pool")
-  #LIST(FILTER ${PROJECT_NAME}_PYTHON_HEADERS EXCLUDE REGEX "^algorithm/parallel")
-  #LIST(FILTER ${PROJECT_NAME}_PYTHON_SOURCES EXCLUDE REGEX "^algorithm/parallel")
+  LIST(FILTER ${PROJECT_NAME}_PYTHON_HEADERS EXCLUDE REGEX "^${SOURCE_HEADERS_ROOT}/multibody/pool")
+  LIST(FILTER ${PROJECT_NAME}_PYTHON_SOURCES EXCLUDE REGEX "^multibody/pool")
+  LIST(FILTER ${PROJECT_NAME}_PYTHON_HEADERS EXCLUDE REGEX "^${SOURCE_HEADERS_ROOT}/algorithm/parallel")
+  LIST(FILTER ${PROJECT_NAME}_PYTHON_SOURCES EXCLUDE REGEX "^algorithm/parallel")
 ELSE(NOT BUILD_WITH_OPENMP_SUPPORT)
   IF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
-    LIST_FILTER("${${PROJECT_NAME}_PYTHON_HEADERS}" ".*/include/${PROJECT_NAME}/bindings/python/multibody/pool/geometry.hpp" ${PROJECT_NAME}_PYTHON_HEADERS)
-    LIST_FILTER("${${PROJECT_NAME}_PYTHON_SOURCES}" "^algorithm/parallel/geometry.cpp" ${PROJECT_NAME}_PYTHON_SOURCES)
-    #LIST(FILTER ${PROJECT_NAME}_PYTHON_HEADERS EXCLUDE REGEX "^multibody/pool/geometry.hpp")
-    #LIST(FILTER ${PROJECT_NAME}_PYTHON_SOURCES EXCLUDE REGEX "^algorithm/parallel/geometry.cpp")
+  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
+    ${SOURCE_HEADERS_ROOT}/multibody/pool/geometry.hpp
+    )
+  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
+    algorithm/parallel/geometry.cpp
+    )
   ENDIF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
 ENDIF(NOT BUILD_WITH_OPENMP_SUPPORT)
 
-LIST(APPEND HEADERS ${${PROJECT_NAME}_PYTHON_HEADERS})
-
-
 # Headers of the Python parser
 IF(BUILD_WITH_LIBPYTHON)
   # TODO
@@ -177,6 +152,16 @@ IF(BUILD_PYTHON_INTERFACE)
     DESTINATION ${${PYWRAP}_INSTALL_DIR}
     )
 
+  FOREACH(header ${${PYWRAP}_HEADERS})
+    GET_FILENAME_COMPONENT(headerPath ${header} PATH)
+    # Here, headerPath is relative to our source directory (begin with ../../include/pinocchio/)
+    # We add include in the destination to cancel the `../..` part of the relative path
+    INSTALL(FILES ${header}
+            DESTINATION ${CMAKE_INSTALL_PREFIX}/include/pinocchio/${headerPath}
+            PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+  ENDFOREACH(header)
+
+
   # --- INSTALL SCRIPTS
   SET(PYTHON_FILES
     __init__.py
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index d24afe1468..a8a3ff91b0 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -7,20 +7,26 @@
 # --- INCLUDE ----------------------------------------
 # ----------------------------------------------------
 
-# Find all headers
+# Find all headers with a relative path to avoid conflict with root path
+# when applying filters
 FILE(GLOB_RECURSE HEADERS
+  RELATIVE
+  ${CMAKE_CURRENT_SOURCE_DIR}
   ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/*.hpp
   ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/*.hxx
   )
 
+SET(SOURCE_HEADERS_ROOT "../include/${PROJECT_NAME}")
+SET(BINARY_HEADERS_ROOT "${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}")
+
 # Remove bindings
-LIST(FILTER HEADERS EXCLUDE REGEX "../include/${PROJECT_NAME}/bindings/.*")
+LIST(FILTER HEADERS EXCLUDE REGEX "^${SOURCE_HEADERS_ROOT}/bindings/.*")
 
 # Add generated headers
 LIST(APPEND HEADERS
-     ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/config.hpp
-     ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/deprecated.hpp
-     ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/warning.hpp)
+  ${BINARY_HEADERS_ROOT}/config.hpp
+  ${BINARY_HEADERS_ROOT}/deprecated.hpp
+  ${BINARY_HEADERS_ROOT}/warning.hpp)
 
 IF(BUILD_WITH_URDF_SUPPORT)
   LIST(APPEND ${PROJECT_NAME}_SOURCES
@@ -30,11 +36,11 @@ IF(BUILD_WITH_URDF_SUPPORT)
   )
 ELSE(BUILD_WITH_URDF_SUPPORT)
   LIST(REMOVE_ITEM HEADERS
-    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/parsers/urdf.hpp
-    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/parsers/urdf/model.hxx
-    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/parsers/urdf/geometry.hxx
-    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/parsers/urdf/utils.hpp
-    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/parsers/urdf/types.hpp
+    ${SOURCE_HEADERS_ROOT}/parsers/urdf.hpp
+    ${SOURCE_HEADERS_ROOT}/parsers/urdf/model.hxx
+    ${SOURCE_HEADERS_ROOT}/parsers/urdf/geometry.hxx
+    ${SOURCE_HEADERS_ROOT}/parsers/urdf/utils.hpp
+    ${SOURCE_HEADERS_ROOT}/parsers/urdf/types.hpp
     )
 ENDIF()
 
@@ -47,7 +53,8 @@ GET_DIRECTORY_PROPERTY(CURRENT_COMPILE_DEFINITIONS COMPILE_DEFINITIONS)
 ADD_LIBRARY(${PROJECT_NAME} SHARED ${HEADERS} ${${PROJECT_NAME}_SOURCES})
 SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES
   LINKER_LANGUAGE CXX
-  INSTALL_RPATH "\$ORIGIN")
+  INSTALL_RPATH "\$ORIGIN"
+  )
 TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PUBLIC ${CURRENT_COMPILE_DEFINITIONS})
 
 # Create header-only target
@@ -133,3 +140,12 @@ INSTALL(TARGETS ${PROJECT_NAME}_headers
   LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
   ARCHIVE DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
   RUNTIME DESTINATION ${CMAKE_INSTALL_FULL_BINDIR})
+
+FOREACH(header ${HEADERS})
+  GET_FILENAME_COMPONENT(headerPath ${header} PATH)
+  # Here, headerPath is relative to our source directory (begin with ../include/pinocchio/)
+  # We add include in the destination to cancel the `..` part of the relative path
+  INSTALL(FILES ${header}
+          DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${headerPath}
+          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+ENDFOREACH(header)

From 4fdaa18c7c946b5ba23bc97604a8ef73f55677a7 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@navya.tech>
Date: Thu, 19 Oct 2023 14:56:40 +0200
Subject: [PATCH 04/13] Fix last installation issues

---
 bindings/python/CMakeLists.txt | 15 +++------------
 src/CMakeLists.txt             | 26 +++++++++++++-------------
 2 files changed, 16 insertions(+), 25 deletions(-)

diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index a72e8f29d7..5fad10914f 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -62,14 +62,6 @@ ELSE(NOT BUILD_WITH_OPENMP_SUPPORT)
   ENDIF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
 ENDIF(NOT BUILD_WITH_OPENMP_SUPPORT)
 
-# Headers of the Python parser
-IF(BUILD_WITH_LIBPYTHON)
-  # TODO
-  # INSTALL(FILES ${${PROJECT_NAME}_PARSER_PYTHON_HEADERS}
-  #     DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}/${SUBPATH}/${headerPath}
-  #           PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
-ENDIF(BUILD_WITH_LIBPYTHON)
-
 # --- COMPILE WRAPPER
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
 SET(${PYWRAP}_SOURCES ${${PROJECT_NAME}_PYTHON_SOURCES})
@@ -153,11 +145,10 @@ IF(BUILD_PYTHON_INTERFACE)
     )
 
   FOREACH(header ${${PYWRAP}_HEADERS})
-    GET_FILENAME_COMPONENT(headerPath ${header} PATH)
-    # Here, headerPath is relative to our source directory (begin with ../../include/pinocchio/)
-    # We add include in the destination to cancel the `../..` part of the relative path
+    GET_FILENAME_COMPONENT(header_path ${header} PATH)
+    STRING(REPLACE "../../" "" non_relative_header_path ${header_path})
     INSTALL(FILES ${header}
-            DESTINATION ${CMAKE_INSTALL_PREFIX}/include/pinocchio/${headerPath}
+            DESTINATION ${CMAKE_INSTALL_PREFIX}/${non_relative_header_path}
             PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
   ENDFOREACH(header)
 
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index a8a3ff91b0..798bffa94b 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -9,7 +9,7 @@
 
 # Find all headers with a relative path to avoid conflict with root path
 # when applying filters
-FILE(GLOB_RECURSE HEADERS
+FILE(GLOB_RECURSE PUBLIC_HEADERS
   RELATIVE
   ${CMAKE_CURRENT_SOURCE_DIR}
   ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/*.hpp
@@ -20,10 +20,10 @@ SET(SOURCE_HEADERS_ROOT "../include/${PROJECT_NAME}")
 SET(BINARY_HEADERS_ROOT "${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}")
 
 # Remove bindings
-LIST(FILTER HEADERS EXCLUDE REGEX "^${SOURCE_HEADERS_ROOT}/bindings/.*")
+LIST(FILTER PUBLIC_HEADERS EXCLUDE REGEX "^${SOURCE_HEADERS_ROOT}/bindings/.*")
 
 # Add generated headers
-LIST(APPEND HEADERS
+LIST(APPEND PRIVATE_HEADERS
   ${BINARY_HEADERS_ROOT}/config.hpp
   ${BINARY_HEADERS_ROOT}/deprecated.hpp
   ${BINARY_HEADERS_ROOT}/warning.hpp)
@@ -35,7 +35,7 @@ IF(BUILD_WITH_URDF_SUPPORT)
     parsers/urdf/utils.cpp
   )
 ELSE(BUILD_WITH_URDF_SUPPORT)
-  LIST(REMOVE_ITEM HEADERS
+  LIST(REMOVE_ITEM PUBLIC_HEADERS
     ${SOURCE_HEADERS_ROOT}/parsers/urdf.hpp
     ${SOURCE_HEADERS_ROOT}/parsers/urdf/model.hxx
     ${SOURCE_HEADERS_ROOT}/parsers/urdf/geometry.hxx
@@ -50,7 +50,7 @@ LIST(APPEND ${PROJECT_NAME}_SOURCES utils/file-explorer.cpp)
 GET_DIRECTORY_PROPERTY(CURRENT_COMPILE_DEFINITIONS COMPILE_DEFINITIONS)
 
 # Create target libpinocchio.so
-ADD_LIBRARY(${PROJECT_NAME} SHARED ${HEADERS} ${${PROJECT_NAME}_SOURCES})
+ADD_LIBRARY(${PROJECT_NAME} SHARED ${PUBLIC_HEADERS} ${PRIVATE_HEADERS} ${${PROJECT_NAME}_SOURCES})
 SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES
   LINKER_LANGUAGE CXX
   INSTALL_RPATH "\$ORIGIN"
@@ -64,8 +64,8 @@ ADD_LIBRARY(${PROJECT_NAME}_headers INTERFACE)
 IF(BUILD_WITH_HPP_FCL_SUPPORT)
   LIST(REMOVE_ITEM CURRENT_COMPILE_DEFINITIONS PINOCCHIO_WITH_HPP_FCL)
 ELSE(BUILD_WITH_HPP_FCL_SUPPORT)
-  LIST(REMOVE_ITEM HEADERS
-    ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/spatial/fcl-pinocchio-conversions.hpp
+  LIST(REMOVE_ITEM PUBLIC_HEADERS
+    ${SOURCE_HEADERS_ROOT}/spatial/fcl-pinocchio-conversions.hpp
     )
 ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 
@@ -126,7 +126,8 @@ IF(hpp-fcl_FOUND)
   TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC hpp-fcl::hpp-fcl)
 ENDIF(hpp-fcl_FOUND)
 
-ADD_HEADER_GROUP(HEADERS)
+ADD_HEADER_GROUP(PUBLIC_HEADERS)
+ADD_HEADER_GROUP(PRIVATE_HEADERS)
 ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)
 
 INSTALL(TARGETS ${PROJECT_NAME}
@@ -141,11 +142,10 @@ INSTALL(TARGETS ${PROJECT_NAME}_headers
   ARCHIVE DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
   RUNTIME DESTINATION ${CMAKE_INSTALL_FULL_BINDIR})
 
-FOREACH(header ${HEADERS})
-  GET_FILENAME_COMPONENT(headerPath ${header} PATH)
-  # Here, headerPath is relative to our source directory (begin with ../include/pinocchio/)
-  # We add include in the destination to cancel the `..` part of the relative path
+FOREACH(header ${PUBLIC_HEADERS})
+  GET_FILENAME_COMPONENT(header_path ${header} PATH)
+  STRING(REPLACE "../" "" non_relative_header_path ${header_path})
   INSTALL(FILES ${header}
-          DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${headerPath}
+          DESTINATION ${CMAKE_INSTALL_PREFIX}/${non_relative_header_path}
           PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
 ENDFOREACH(header)

From 16020e2720a6ef08f11c5a522f2b7473f1b3ba44 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@navya.tech>
Date: Thu, 19 Oct 2023 15:28:06 +0200
Subject: [PATCH 05/13] Use REPLACE instead of REGEX REPLACE

---
 unittest/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index 0a408c1ddc..795bb33c84 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -27,7 +27,7 @@ MACRO(ADD_PINOCCHIO_UNIT_TEST NAME)
 
   ADD_TEST_CFLAGS(${NAME} "-DBOOST_TEST_DYN_LINK")
   SET(MODULE_NAME "${NAME}Test")
-  STRING(REGEX REPLACE "-" "_" MODULE_NAME ${MODULE_NAME})
+  STRING(REPLACE "-" "_" MODULE_NAME ${MODULE_NAME})
   ADD_TEST_CFLAGS(${NAME} "-DBOOST_TEST_MODULE=${MODULE_NAME}")
   ADD_TEST_CFLAGS(${NAME} "-DPINOCCHIO_MODEL_DIR=\\\\\"${PINOCCHIO_MODEL_DIR}\\\\\"")
   IF(WIN32)

From ac0ed7e1ab95036f1b0216f92a0e31ac8c04c919 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@navya.tech>
Date: Thu, 19 Oct 2023 15:43:49 +0200
Subject: [PATCH 06/13] Fix doxygen

---
 bindings/python/CMakeLists.txt | 3 ++-
 doc/Doxyfile.extra.in          | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index 5fad10914f..9b38e19b39 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -227,7 +227,8 @@ IF(BUILD_PYTHON_INTERFACE)
     SET(DOXYGEN_GENERATE_LATEX NO)
     SET(DOXYGEN_PROJECT_NAME "Pinocchio PyBind11 helpers.")
     DOXYGEN_ADD_DOCS(doc_pybind11
-      pybind11.hpp pybind11-all.hpp
+      ${SOURCE_HEADERS_ROOT}/pybind11.hpp
+      ${SOURCE_HEADERS_ROOT}/pybind11-all.hpp
       USE_STAMP_FILE
       COMMENT "Generating documentation of the PyBind11 helpers.")
   ENDIF()
diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in
index 7caa1e723c..a0c8ef509b 100644
--- a/doc/Doxyfile.extra.in
+++ b/doc/Doxyfile.extra.in
@@ -292,7 +292,7 @@ WARN_LOGFILE           = @CMAKE_BINARY_DIR@/doc/doxygen.log
 # with spaces.
 
 INPUT                 = @CMAKE_SOURCE_DIR@/doc \
-                        @CMAKE_SOURCE_DIR@/src
+                        @CMAKE_SOURCE_DIR@/include
 
 # The RECURSIVE tag can be used to turn specify whether or not subdirectories
 # should be searched for input files as well. Possible values are YES and NO.
@@ -625,7 +625,7 @@ EXPAND_AS_DEFINED      =
 # contain include files that are not input files but should be processed by
 # the preprocessor.
 
-INCLUDE_PATH          = @PROJECT_SOURCE_DIR@/src
+INCLUDE_PATH          = @PROJECT_SOURCE_DIR@/include
 
 #---------------------------------------------------------------------------
 # Configuration::additions related to external references

From 73cf05186169b62bef91d0bdf525c4253fd66eb0 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@navya.tech>
Date: Fri, 20 Oct 2023 13:33:14 +0200
Subject: [PATCH 07/13] [cmake] Set back include/pinocchio/parsers/python.hpp

---
 bindings/python/CMakeLists.txt       |  8 ++------
 include/pinocchio/parsers/python.hpp | 16 ++++++++++++++++
 src/CMakeLists.txt                   |  5 +++++
 3 files changed, 23 insertions(+), 6 deletions(-)
 create mode 100644 include/pinocchio/parsers/python.hpp

diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index 9b38e19b39..e2705a3866 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -23,18 +23,14 @@ FILE(GLOB_RECURSE ${PROJECT_NAME}_PYTHON_SOURCES
 SET(SOURCE_HEADERS_ROOT "../../include/${PROJECT_NAME}/bindings/python")
 
 # Parser for Python model
-IF(BUILD_WITH_LIBPYTHON)
-  SET(${PROJECT_NAME}_PARSER_PYTHON_HEADERS
-    ${SOURCE_HEADERS_ROOT}/parsers/python.hpp
-    )
-ELSE(BUILD_WITH_LIBPYTHON)
+IF(NOT BUILD_WITH_LIBPYTHON)
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
     ${SOURCE_HEADERS_ROOT}/parsers/python.hpp
     )
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
     parsers/python/model.cpp
     )
-ENDIF(BUILD_WITH_LIBPYTHON)
+ENDIF(NOT BUILD_WITH_LIBPYTHON)
 
 # Python exposition of FCL
 IF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
diff --git a/include/pinocchio/parsers/python.hpp b/include/pinocchio/parsers/python.hpp
new file mode 100644
index 0000000000..2267f51bf1
--- /dev/null
+++ b/include/pinocchio/parsers/python.hpp
@@ -0,0 +1,16 @@
+//
+// Copyright (c) 2015-2023 CNRS INRIA
+//
+
+#ifndef __pinocchio_parser_python_hpp__
+#define __pinocchio_parser_python_hpp__
+
+#include "pinocchio/macros.hpp"
+
+// clang-format off
+PINOCCHIO_PRAGMA_DEPRECATED_HEADER(pinocchio/parsers/python.hpp, pinocchio/bindings/python/parsers/python.hpp)
+// clang-format on
+
+#include "pinocchio/bindings/python/parsers/python.hpp"
+
+#endif // ifndef __pinocchio_parser_python_hpp__
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 798bffa94b..b730c1150d 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -44,6 +44,11 @@ ELSE(BUILD_WITH_URDF_SUPPORT)
     )
 ENDIF()
 
+# Parser for Python model
+IF(NOT BUILD_WITH_LIBPYTHON)
+  LIST(REMOVE_ITEM PUBLIC_HEADERS ${SOURCE_HEADERS_ROOT}/parsers/python.hpp)
+ENDIF(BUILD_WITH_LIBPYTHON)
+
 LIST(APPEND ${PROJECT_NAME}_SOURCES utils/file-explorer.cpp)
 
 # Extract the compile definitions of the project for export

From 7711a3191ae2a9640d1c3b6c107e0da4444ce0d5 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@navya.tech>
Date: Fri, 20 Oct 2023 14:39:11 +0200
Subject: [PATCH 08/13] [cmake] Remove the deprecated warning

---
 include/pinocchio/parsers/python.hpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/include/pinocchio/parsers/python.hpp b/include/pinocchio/parsers/python.hpp
index 2267f51bf1..ba6e9a2b38 100644
--- a/include/pinocchio/parsers/python.hpp
+++ b/include/pinocchio/parsers/python.hpp
@@ -7,10 +7,6 @@
 
 #include "pinocchio/macros.hpp"
 
-// clang-format off
-PINOCCHIO_PRAGMA_DEPRECATED_HEADER(pinocchio/parsers/python.hpp, pinocchio/bindings/python/parsers/python.hpp)
-// clang-format on
-
 #include "pinocchio/bindings/python/parsers/python.hpp"
 
 #endif // ifndef __pinocchio_parser_python_hpp__

From fcd18961d50075235e9fc3751660068726ee5d82 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@navya.tech>
Date: Fri, 20 Oct 2023 16:23:09 +0200
Subject: [PATCH 09/13] [cmake] Don't use GLOB/GLOB_RECURSE to find sources

---
 CMakeLists.txt                 |  68 ++++++
 bindings/python/CMakeLists.txt |  73 +-----
 sources.cmake                  | 395 +++++++++++++++++++++++++++++++++
 src/CMakeLists.txt             |  72 +-----
 4 files changed, 486 insertions(+), 122 deletions(-)
 create mode 100644 sources.cmake

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2a74952f3f..ae4df9d713 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -198,6 +198,74 @@ IF(BUILD_WITH_HPP_FCL_SUPPORT)
   ENDIF(BUILD_PYTHON_INTERFACE)
 ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 
+# Sources definition
+INCLUDE(sources.cmake)
+
+IF(BUILD_WITH_URDF_SUPPORT)
+  LIST(APPEND ${PROJECT_NAME}_CORE_SOURCES ${${PROJECT_NAME}_URDF_SOURCES})
+  LIST(APPEND ${PROJECT_NAME}_CORE_PUBLIC_HEADERS ${${PROJECT_NAME}_URDF_PUBLIC_HEADERS})
+ENDIF(BUILD_WITH_URDF_SUPPORT)
+
+IF(BUILD_WITH_LIBPYTHON)
+  LIST(APPEND ${PROJECT_NAME}_CORE_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_LIBPYTHON_PUBLIC_HEADERS})
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_SOURCES})
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_PUBLIC_HEADERS})
+ENDIF(BUILD_WITH_LIBPYTHON)
+
+IF(BUILD_WITH_HPP_FCL_SUPPORT)
+  LIST(APPEND ${PROJECT_NAME}_CORE_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_HPP_FCL_PUBLIC_HEADERS})
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_SOURCES})
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PUBLIC_HEADERS})
+ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
+
+IF(BUILD_WITH_OPENMP_SUPPORT)
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_OPENMP_SOURCES})
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_OPENMP_PUBLIC_HEADERS})
+  IF(BUILD_WITH_HPP_FCL_SUPPORT)
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_OPENMP_SOURCES})
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_OPENMP_PUBLIC_HEADERS})
+  ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
+ENDIF()
+
+# List headers to install
+LIST(APPEND ${PROJECT_NAME}_HEADERS
+  ${${PROJECT_NAME}_CORE_PUBLIC_HEADERS}
+  )
+IF(BUILD_PYTHON_INTERFACE)
+  LIST(APPEND ${PROJECT_NAME}_HEADERS
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS}
+    )
+ENDIF(BUILD_PYTHON_INTERFACE)
+
+# Macros to update souces path in subdirs
+FUNCTION(REMOVE_PATH_FROM_LIST list_name path_name dest_list)
+  SET(list_name_)
+  FOREACH(header ${${list_name}})
+    STRING(REGEX REPLACE "^${path_name}" "" header ${header})
+    LIST(APPEND list_name_ ${header})
+  ENDFOREACH(header ${list_name_})
+  SET(${dest_list} ${list_name_} PARENT_SCOPE)
+ENDFUNCTION(REMOVE_PATH_FROM_LIST)
+
+FUNCTION(PREPEND_PATH_FROM_LIST list_name path_name dest_list)
+  SET(list_name_)
+  FOREACH(header ${${list_name}})
+    SET(header "${path_name}/${header}")
+    LIST(APPEND list_name_ ${header})
+  ENDFOREACH(header ${list_name_})
+  SET(${dest_list} ${list_name_} PARENT_SCOPE)
+ENDFUNCTION(PREPEND_PATH_FROM_LIST)
+
 # Enforce the preprocessed version of boost::list and boost::vector
 # This information is redundant with the content of include/pinocchio/container/boost-container-limits.hpp
 # but it avoids any compilation issue.
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index e2705a3866..05dd837537 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -9,59 +9,16 @@ include(${JRL_CMAKE_MODULES}/python-helpers.cmake)
 SET(PYWRAP ${PROJECT_NAME}_pywrap)
 SET(PYWRAP ${PYWRAP} PARENT_SCOPE)
 
-FILE(GLOB_RECURSE ${PROJECT_NAME}_PYTHON_HEADERS
-  RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
-  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/*.hpp
-  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/*.hxx
-  )
-
-FILE(GLOB_RECURSE ${PROJECT_NAME}_PYTHON_SOURCES
-  RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
-  ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp
-  )
-
-SET(SOURCE_HEADERS_ROOT "../../include/${PROJECT_NAME}/bindings/python")
-
-# Parser for Python model
-IF(NOT BUILD_WITH_LIBPYTHON)
-  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
-    ${SOURCE_HEADERS_ROOT}/parsers/python.hpp
-    )
-  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
-    parsers/python/model.cpp
-    )
-ENDIF(NOT BUILD_WITH_LIBPYTHON)
-
-# Python exposition of FCL
-IF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
-  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
-    ${SOURCE_HEADERS_ROOT}/multibody/fcl/transform.hpp
-    )
-  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
-    multibody/fcl/expose-fcl.cpp
-    )
-ENDIF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
-
-IF(NOT BUILD_WITH_OPENMP_SUPPORT)
-  LIST(FILTER ${PROJECT_NAME}_PYTHON_HEADERS EXCLUDE REGEX "^${SOURCE_HEADERS_ROOT}/multibody/pool")
-  LIST(FILTER ${PROJECT_NAME}_PYTHON_SOURCES EXCLUDE REGEX "^multibody/pool")
-  LIST(FILTER ${PROJECT_NAME}_PYTHON_HEADERS EXCLUDE REGEX "^${SOURCE_HEADERS_ROOT}/algorithm/parallel")
-  LIST(FILTER ${PROJECT_NAME}_PYTHON_SOURCES EXCLUDE REGEX "^algorithm/parallel")
-ELSE(NOT BUILD_WITH_OPENMP_SUPPORT)
-  IF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
-  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
-    ${SOURCE_HEADERS_ROOT}/multibody/pool/geometry.hpp
-    )
-  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
-    algorithm/parallel/geometry.cpp
-    )
-  ENDIF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
-ENDIF(NOT BUILD_WITH_OPENMP_SUPPORT)
-
 # --- COMPILE WRAPPER
+REMOVE_PATH_FROM_LIST(${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+  "bindings/python/"
+  ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES)
+PREPEND_PATH_FROM_LIST(${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+  "../../"
+  ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS)
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
-SET(${PYWRAP}_SOURCES ${${PROJECT_NAME}_PYTHON_SOURCES})
-SET(${PYWRAP}_HEADERS ${${PROJECT_NAME}_PYTHON_HEADERS})
+SET(${PYWRAP}_SOURCES ${${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES})
+SET(${PYWRAP}_HEADERS ${${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS})
 
 IF(BUILD_PYTHON_INTERFACE)
   ADD_CUSTOM_TARGET(python)
@@ -140,15 +97,6 @@ IF(BUILD_PYTHON_INTERFACE)
     DESTINATION ${${PYWRAP}_INSTALL_DIR}
     )
 
-  FOREACH(header ${${PYWRAP}_HEADERS})
-    GET_FILENAME_COMPONENT(header_path ${header} PATH)
-    STRING(REPLACE "../../" "" non_relative_header_path ${header_path})
-    INSTALL(FILES ${header}
-            DESTINATION ${CMAKE_INSTALL_PREFIX}/${non_relative_header_path}
-            PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
-  ENDFOREACH(header)
-
-
   # --- INSTALL SCRIPTS
   SET(PYTHON_FILES
     __init__.py
@@ -222,9 +170,10 @@ IF(BUILD_PYTHON_INTERFACE)
     SET(DOXYGEN_GENERATE_HTML YES)
     SET(DOXYGEN_GENERATE_LATEX NO)
     SET(DOXYGEN_PROJECT_NAME "Pinocchio PyBind11 helpers.")
+    SET(_source_headers_root "../../include/${PROJECT_NAME}/bindings/python")
     DOXYGEN_ADD_DOCS(doc_pybind11
-      ${SOURCE_HEADERS_ROOT}/pybind11.hpp
-      ${SOURCE_HEADERS_ROOT}/pybind11-all.hpp
+      ${_source_headers_root}/pybind11.hpp
+      ${_source_headers_root}/pybind11-all.hpp
       USE_STAMP_FILE
       COMMENT "Generating documentation of the PyBind11 helpers.")
   ENDIF()
diff --git a/sources.cmake b/sources.cmake
new file mode 100644
index 0000000000..a0e9aca375
--- /dev/null
+++ b/sources.cmake
@@ -0,0 +1,395 @@
+# Define Pinocchio sources and headers
+
+SET(${PROJECT_NAME}_CORE_SOURCES
+  src/utils/file-explorer.cpp
+  )
+
+SET(${PROJECT_NAME}_CORE_PUBLIC_HEADERS
+  include/pinocchio/deprecated-macros.hpp
+  include/pinocchio/spatial/motion-dense.hpp
+  include/pinocchio/spatial/explog.hpp
+  include/pinocchio/spatial/explog-quaternion.hpp
+  include/pinocchio/spatial/log.hxx
+  include/pinocchio/spatial/spatial-axis.hpp
+  include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
+  include/pinocchio/spatial/symmetric3.hpp
+  include/pinocchio/spatial/act-on-set.hpp
+  include/pinocchio/spatial/fwd.hpp
+  include/pinocchio/spatial/se3-base.hpp
+  include/pinocchio/spatial/cartesian-axis.hpp
+  include/pinocchio/spatial/motion.hpp
+  include/pinocchio/spatial/motion-ref.hpp
+  include/pinocchio/spatial/force-ref.hpp
+  include/pinocchio/spatial/skew.hpp
+  include/pinocchio/spatial/force-base.hpp
+  include/pinocchio/spatial/motion-zero.hpp
+  include/pinocchio/spatial/force-tpl.hpp
+  include/pinocchio/spatial/force.hpp
+  include/pinocchio/spatial/force-dense.hpp
+  include/pinocchio/spatial/inertia.hpp
+  include/pinocchio/spatial/log.hpp
+  include/pinocchio/spatial/motion-tpl.hpp
+  include/pinocchio/spatial/se3-tpl.hpp
+  include/pinocchio/spatial/act-on-set.hxx
+  include/pinocchio/spatial/se3.hpp
+  include/pinocchio/spatial/motion-base.hpp
+  include/pinocchio/algorithm/check.hxx
+  include/pinocchio/algorithm/crba.hxx
+  include/pinocchio/algorithm/dynamics.hpp
+  include/pinocchio/algorithm/kinematics.hxx
+  include/pinocchio/algorithm/aba-derivatives.hpp
+  include/pinocchio/algorithm/centroidal-derivatives.hpp
+  include/pinocchio/algorithm/contact-dynamics.hxx
+  include/pinocchio/algorithm/regressor.hxx
+  include/pinocchio/algorithm/frames.hxx
+  include/pinocchio/algorithm/joint-configuration.hxx
+  include/pinocchio/algorithm/energy.hpp
+  include/pinocchio/algorithm/center-of-mass.hxx
+  include/pinocchio/algorithm/geometry.hpp
+  include/pinocchio/algorithm/center-of-mass-derivatives.hpp
+  include/pinocchio/algorithm/aba.hpp
+  include/pinocchio/algorithm/cholesky.hpp
+  include/pinocchio/algorithm/kinematics.hpp
+  include/pinocchio/algorithm/rnea.hxx
+  include/pinocchio/algorithm/regressor.hpp
+  include/pinocchio/algorithm/frames.hpp
+  include/pinocchio/algorithm/kinematics-derivatives.hxx
+  include/pinocchio/algorithm/jacobian.hxx
+  include/pinocchio/algorithm/rnea-derivatives.hpp
+  include/pinocchio/algorithm/rnea-second-order-derivatives.hxx
+  include/pinocchio/algorithm/joint-configuration.hpp
+  include/pinocchio/algorithm/model.hxx
+  include/pinocchio/algorithm/contact-dynamics.hpp
+  include/pinocchio/algorithm/centroidal.hxx
+  include/pinocchio/algorithm/model.hpp
+  include/pinocchio/algorithm/rnea-derivatives.hxx
+  include/pinocchio/algorithm/compute-all-terms.hpp
+  include/pinocchio/algorithm/jacobian.hpp
+  include/pinocchio/algorithm/rnea-second-order-derivatives.hpp
+  include/pinocchio/algorithm/copy.hpp
+  include/pinocchio/algorithm/centroidal.hpp
+  include/pinocchio/algorithm/kinematics-derivatives.hpp
+  include/pinocchio/algorithm/check.hpp
+  include/pinocchio/algorithm/energy.hxx
+  include/pinocchio/algorithm/geometry.hxx
+  include/pinocchio/algorithm/rnea.hpp
+  include/pinocchio/algorithm/parallel/geometry.hpp
+  include/pinocchio/algorithm/parallel/aba.hpp
+  include/pinocchio/algorithm/parallel/rnea.hpp
+  include/pinocchio/algorithm/centroidal-derivatives.hxx
+  include/pinocchio/algorithm/cholesky.hxx
+  include/pinocchio/algorithm/default-check.hpp
+  include/pinocchio/algorithm/center-of-mass.hpp
+  include/pinocchio/algorithm/frames-derivatives.hxx
+  include/pinocchio/algorithm/aba-derivatives.hxx
+  include/pinocchio/algorithm/crba.hpp
+  include/pinocchio/algorithm/compute-all-terms.hxx
+  include/pinocchio/algorithm/aba.hxx
+  include/pinocchio/algorithm/center-of-mass-derivatives.hxx
+  include/pinocchio/algorithm/frames-derivatives.hpp
+  include/pinocchio/codegen/code-generator-algo.hpp
+  include/pinocchio/codegen/cppadcg.hpp
+  include/pinocchio/codegen/code-generator-base.hpp
+  include/pinocchio/macros.hpp
+  include/pinocchio/autodiff/casadi/spatial/se3-tpl.hpp
+  include/pinocchio/autodiff/casadi/utils/static-if.hpp
+  include/pinocchio/autodiff/casadi/math/matrix.hpp
+  include/pinocchio/autodiff/casadi/math/quaternion.hpp
+  include/pinocchio/autodiff/cppad.hpp
+  include/pinocchio/autodiff/cppad/spatial/log.hxx
+  include/pinocchio/autodiff/cppad/spatial/se3-tpl.hpp
+  include/pinocchio/autodiff/cppad/algorithm/aba.hpp
+  include/pinocchio/autodiff/cppad/utils/static-if.hpp
+  include/pinocchio/autodiff/cppad/math/eigen_plugin.hpp
+  include/pinocchio/autodiff/cppad/math/quaternion.hpp
+  include/pinocchio/autodiff/casadi.hpp
+  include/pinocchio/utils/string-generator.hpp
+  include/pinocchio/utils/version.hpp
+  include/pinocchio/utils/openmp.hpp
+  include/pinocchio/utils/helpers.hpp
+  include/pinocchio/utils/axis-label.hpp
+  include/pinocchio/utils/file-explorer.hpp
+  include/pinocchio/utils/cast.hpp
+  include/pinocchio/utils/eigen-fix.hpp
+  include/pinocchio/utils/static-if.hpp
+  include/pinocchio/utils/timer.hpp
+  include/pinocchio/deprecated-namespaces.hpp
+  include/pinocchio/math/comparison-operators.hpp
+  include/pinocchio/math/multiprecision.hpp
+  include/pinocchio/math/tensor.hpp
+  include/pinocchio/math/cppadcg.hpp
+  include/pinocchio/math/rpy.hpp
+  include/pinocchio/math/cppad.hpp
+  include/pinocchio/math/fwd.hpp
+  include/pinocchio/math/taylor-expansion.hpp
+  include/pinocchio/math/matrix-block.hpp
+  include/pinocchio/math/matrix.hpp
+  include/pinocchio/math/multiprecision-mpfr.hpp
+  include/pinocchio/math/casadi.hpp
+  include/pinocchio/math/sign.hpp
+  include/pinocchio/math/sincos.hpp
+  include/pinocchio/math/rotation.hpp
+  include/pinocchio/math/quaternion.hpp
+  include/pinocchio/math/rpy.hxx
+  include/pinocchio/container/boost-container-limits.hpp
+  include/pinocchio/container/aligned-vector.hpp
+  include/pinocchio/fwd.hpp
+  include/pinocchio/serialization/data.hpp
+  include/pinocchio/serialization/vector.hpp
+  include/pinocchio/serialization/static-buffer.hpp
+  include/pinocchio/serialization/frame.hpp
+  include/pinocchio/serialization/geometry.hpp
+  include/pinocchio/serialization/joints-constraint.hpp
+  include/pinocchio/serialization/joints-model.hpp
+  include/pinocchio/serialization/symmetric3.hpp
+  include/pinocchio/serialization/archive.hpp
+  include/pinocchio/serialization/joints-motion.hpp
+  include/pinocchio/serialization/model.hpp
+  include/pinocchio/serialization/fwd.hpp
+  include/pinocchio/serialization/motion.hpp
+  include/pinocchio/serialization/eigen.hpp
+  include/pinocchio/serialization/joints-data.hpp
+  include/pinocchio/serialization/spatial.hpp
+  include/pinocchio/serialization/joints-transform.hpp
+  include/pinocchio/serialization/force.hpp
+  include/pinocchio/serialization/joints.hpp
+  include/pinocchio/serialization/serializable.hpp
+  include/pinocchio/serialization/inertia.hpp
+  include/pinocchio/serialization/aligned-vector.hpp
+  include/pinocchio/serialization/se3.hpp
+  include/pinocchio/multibody/constraint-generic.hpp
+  include/pinocchio/multibody/data.hpp
+  include/pinocchio/multibody/frame.hpp
+  include/pinocchio/multibody/geometry.hpp
+  include/pinocchio/multibody/pool/geometry.hpp
+  include/pinocchio/multibody/pool/model.hpp
+  include/pinocchio/multibody/visitor.hpp
+  include/pinocchio/multibody/constraint-base.hpp
+  include/pinocchio/multibody/fcl.hpp
+  include/pinocchio/multibody/model.hxx
+  include/pinocchio/multibody/liegroup/liegroup-base.hpp
+  include/pinocchio/multibody/liegroup/liegroup-algo.hpp
+  include/pinocchio/multibody/liegroup/special-euclidean.hpp
+  include/pinocchio/multibody/liegroup/liegroup-base.hxx
+  include/pinocchio/multibody/liegroup/liegroup.hpp
+  include/pinocchio/multibody/liegroup/cartesian-product-variant.hpp
+  include/pinocchio/multibody/liegroup/liegroup-algo.hxx
+  include/pinocchio/multibody/liegroup/fwd.hpp
+  include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx
+  include/pinocchio/multibody/liegroup/special-orthogonal.hpp
+  include/pinocchio/multibody/liegroup/cartesian-product-variant.hxx
+  include/pinocchio/multibody/liegroup/liegroup-generic.hpp
+  include/pinocchio/multibody/liegroup/cartesian-product.hpp
+  include/pinocchio/multibody/liegroup/liegroup-collection.hpp
+  include/pinocchio/multibody/liegroup/vector-space.hpp
+  include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hpp
+  include/pinocchio/multibody/model.hpp
+  include/pinocchio/multibody/fwd.hpp
+  include/pinocchio/multibody/force-set.hpp
+  include/pinocchio/multibody/joint/joint-spherical.hpp
+  include/pinocchio/multibody/joint/joint-data-base.hpp
+  include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
+  include/pinocchio/multibody/joint/joint-planar.hpp
+  include/pinocchio/multibody/joint/joint-composite.hxx
+  include/pinocchio/multibody/joint/joint-basic-visitors.hpp
+  include/pinocchio/multibody/joint/joint-free-flyer.hpp
+  include/pinocchio/multibody/joint/joint-common-operations.hpp
+  include/pinocchio/multibody/joint/joint-model-base.hpp
+  include/pinocchio/multibody/joint/joint-prismatic.hpp
+  include/pinocchio/multibody/joint/joint-spherical-ZYX.hpp
+  include/pinocchio/multibody/joint/joint-composite.hpp
+  include/pinocchio/multibody/joint/joint-translation.hpp
+  include/pinocchio/multibody/joint/fwd.hpp
+  include/pinocchio/multibody/joint/joint-mimic.hpp
+  include/pinocchio/multibody/joint/joint-base.hpp
+  include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
+  include/pinocchio/multibody/joint/joint-revolute.hpp
+  include/pinocchio/multibody/joint/joint-revolute-unbounded.hpp
+  include/pinocchio/multibody/joint/joint-generic.hpp
+  include/pinocchio/multibody/joint/joints.hpp
+  include/pinocchio/multibody/joint/joint-basic-visitors.hxx
+  include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp
+  include/pinocchio/multibody/joint/joint-collection.hpp
+  include/pinocchio/multibody/geometry.hxx
+  include/pinocchio/multibody/fcl.hxx
+  include/pinocchio/multibody/constraint.hpp
+  include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
+  include/pinocchio/multibody/visitor/fusion.hpp
+  include/pinocchio/multibody/visitor/joint-binary-visitor.hpp
+  include/pinocchio/multibody/data.hxx
+  include/pinocchio/eigen-macros.hpp
+  include/pinocchio/deprecation.hpp
+  include/pinocchio/core/unary-op.hpp
+  include/pinocchio/core/binary-op.hpp
+  include/pinocchio/parsers/python.hpp
+  include/pinocchio/parsers/urdf.hpp
+  include/pinocchio/parsers/sample-models.hpp
+  include/pinocchio/parsers/utils.hpp
+  include/pinocchio/parsers/urdf/types.hpp
+  include/pinocchio/parsers/urdf/utils.hpp
+  include/pinocchio/parsers/urdf/model.hxx
+  include/pinocchio/parsers/urdf/geometry.hxx
+  include/pinocchio/parsers/srdf.hpp
+  include/pinocchio/parsers/sample-models.hxx
+  include/pinocchio/parsers/srdf.hxx
+  )
+
+SET(${PROJECT_NAME}_URDF_SOURCES
+  src/parsers/urdf/model.cpp
+  src/parsers/urdf/geometry.cpp
+  src/parsers/urdf/utils.cpp
+  )
+
+SET(${PROJECT_NAME}_URDF_PUBLIC_HEADERS
+  include/pinocchio/parsers/urdf.hpp
+  include/pinocchio/parsers/urdf/model.hxx
+  include/pinocchio/parsers/urdf/geometry.hxx
+  include/pinocchio/parsers/urdf/utils.hpp
+  include/pinocchio/parsers/urdf/types.hpp
+  )
+
+SET(${PROJECT_NAME}_LIBPYTHON_PUBLIC_HEADERS
+  include/pinocchio/parsers/python.hpp
+  )
+
+SET(${PROJECT_NAME}_HPP_FCL_PUBLIC_HEADERS
+  include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
+  )
+
+SET(_binary_headers_root ${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio)
+SET(${PROJECT_NAME}_CORE_PRIVATE_HEADERS
+  ${_binary_headers_root}/config.hpp
+  ${_binary_headers_root}/deprecated.hpp
+  ${_binary_headers_root}/warning.hpp
+  )
+
+# Define Pinocchio Python binding sources and headers
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+  include/pinocchio/bindings/python/spatial/explog.hpp
+  include/pinocchio/bindings/python/spatial/motion.hpp
+  include/pinocchio/bindings/python/spatial/force.hpp
+  include/pinocchio/bindings/python/spatial/inertia.hpp
+  include/pinocchio/bindings/python/spatial/se3.hpp
+  include/pinocchio/bindings/python/algorithm/algorithms.hpp
+  include/pinocchio/bindings/python/pybind11-all.hpp
+  include/pinocchio/bindings/python/pybind11.hpp
+  include/pinocchio/bindings/python/utils/constant.hpp
+  include/pinocchio/bindings/python/utils/version.hpp
+  include/pinocchio/bindings/python/utils/pickle-vector.hpp
+  include/pinocchio/bindings/python/utils/std-vector.hpp
+  include/pinocchio/bindings/python/utils/printable.hpp
+  include/pinocchio/bindings/python/utils/dependencies.hpp
+  include/pinocchio/bindings/python/utils/conversions.hpp
+  include/pinocchio/bindings/python/utils/copyable.hpp
+  include/pinocchio/bindings/python/utils/registration.hpp
+  include/pinocchio/bindings/python/utils/pickle-map.hpp
+  include/pinocchio/bindings/python/utils/list.hpp
+  include/pinocchio/bindings/python/utils/std-aligned-vector.hpp
+  include/pinocchio/bindings/python/utils/eigen.hpp
+  include/pinocchio/bindings/python/utils/std-map.hpp
+  include/pinocchio/bindings/python/utils/deprecation.hpp
+  include/pinocchio/bindings/python/utils/namespace.hpp
+  include/pinocchio/bindings/python/fwd.hpp
+  include/pinocchio/bindings/python/serialization/serialization.hpp
+  include/pinocchio/bindings/python/serialization/serializable.hpp
+  include/pinocchio/bindings/python/multibody/data.hpp
+  include/pinocchio/bindings/python/multibody/frame.hpp
+  include/pinocchio/bindings/python/multibody/geometry-model.hpp
+  include/pinocchio/bindings/python/multibody/model.hpp
+  include/pinocchio/bindings/python/multibody/joint/joint-derived.hpp
+  include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
+  include/pinocchio/bindings/python/multibody/joint/joints-variant.hpp
+  include/pinocchio/bindings/python/multibody/joint/joints-datas.hpp
+  include/pinocchio/bindings/python/multibody/joint/joint.hpp
+  include/pinocchio/bindings/python/multibody/liegroups.hpp
+  include/pinocchio/bindings/python/multibody/geometry-data.hpp
+  include/pinocchio/bindings/python/multibody/geometry-object.hpp
+  include/pinocchio/bindings/python/parsers/urdf.hpp
+  include/pinocchio/bindings/python/parsers/sample-models.hpp
+  include/pinocchio/bindings/python/parsers/srdf.hpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+  bindings/python/spatial/expose-force.cpp
+  bindings/python/spatial/expose-inertia.cpp
+  bindings/python/spatial/expose-SE3.cpp
+  bindings/python/spatial/expose-motion.cpp
+  bindings/python/spatial/expose-explog.cpp
+  bindings/python/spatial/expose-skew.cpp
+  bindings/python/algorithm/expose-model.cpp
+  bindings/python/algorithm/expose-centroidal.cpp
+  bindings/python/algorithm/expose-aba.cpp
+  bindings/python/algorithm/expose-algorithms.cpp
+  bindings/python/algorithm/expose-com.cpp
+  bindings/python/algorithm/expose-frames.cpp
+  bindings/python/algorithm/expose-energy.cpp
+  bindings/python/algorithm/expose-contact-dynamics.cpp
+  bindings/python/algorithm/expose-rnea-derivatives.cpp
+  bindings/python/algorithm/expose-kinematics.cpp
+  bindings/python/algorithm/expose-geometry.cpp
+  bindings/python/algorithm/expose-aba-derivatives.cpp
+  bindings/python/algorithm/expose-joints.cpp
+  bindings/python/algorithm/expose-rnea.cpp
+  bindings/python/algorithm/expose-cholesky.cpp
+  bindings/python/algorithm/expose-regressor.cpp
+  bindings/python/algorithm/expose-kinematics-derivatives.cpp
+  bindings/python/algorithm/expose-cat.cpp
+  bindings/python/algorithm/expose-frames-derivatives.cpp
+  bindings/python/algorithm/expose-centroidal-derivatives.cpp
+  bindings/python/algorithm/expose-jacobian.cpp
+  bindings/python/algorithm/expose-kinematic-regressor.cpp
+  bindings/python/algorithm/expose-crba.cpp
+  bindings/python/module.cpp
+  bindings/python/utils/version.cpp
+  bindings/python/utils/dependencies.cpp
+  bindings/python/utils/conversions.cpp
+  bindings/python/math/expose-rpy.cpp
+  bindings/python/serialization/serialization.cpp
+  bindings/python/multibody/expose-model.cpp
+  bindings/python/multibody/expose-liegroups.cpp
+  bindings/python/multibody/expose-geometry.cpp
+  bindings/python/multibody/expose-frame.cpp
+  bindings/python/multibody/expose-data.cpp
+  bindings/python/multibody/joint/expose-joints.cpp
+  bindings/python/parsers/expose-parsers.cpp
+  bindings/python/parsers/urdf/model.cpp
+  bindings/python/parsers/urdf/geometry.cpp
+  bindings/python/parsers/srdf.cpp
+  bindings/python/parsers/sample-models.cpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_SOURCES
+  bindings/python/parsers/python/model.cpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_PUBLIC_HEADERS
+  include/pinocchio/bindings/python/parsers/python.hpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_SOURCES
+  bindings/python/multibody/fcl/expose-fcl.cpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PUBLIC_HEADERS
+  include/pinocchio/bindings/python/multibody/fcl/transform.hpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_OPENMP_SOURCES
+  bindings/python/multibody/pool/expose-pool.cpp
+  bindings/python/algorithm/parallel/aba.cpp
+  bindings/python/algorithm/parallel/expose-parallel.cpp
+  bindings/python/algorithm/parallel/rnea.cpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_OPENMP_PUBLIC_HEADERS
+  include/pinocchio/bindings/python/multibody/pool/model.hpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_OPENMP_SOURCES
+  bindings/python/algorithm/parallel/geometry.cpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_OPENMP_PUBLIC_HEADERS
+  include/pinocchio/bindings/python/multibody/pool/geometry.hpp
+  )
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index b730c1150d..e87c3f8c47 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -7,55 +7,19 @@
 # --- INCLUDE ----------------------------------------
 # ----------------------------------------------------
 
-# Find all headers with a relative path to avoid conflict with root path
-# when applying filters
-FILE(GLOB_RECURSE PUBLIC_HEADERS
-  RELATIVE
-  ${CMAKE_CURRENT_SOURCE_DIR}
-  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/*.hpp
-  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/*.hxx
-  )
-
-SET(SOURCE_HEADERS_ROOT "../include/${PROJECT_NAME}")
-SET(BINARY_HEADERS_ROOT "${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}")
-
-# Remove bindings
-LIST(FILTER PUBLIC_HEADERS EXCLUDE REGEX "^${SOURCE_HEADERS_ROOT}/bindings/.*")
-
-# Add generated headers
-LIST(APPEND PRIVATE_HEADERS
-  ${BINARY_HEADERS_ROOT}/config.hpp
-  ${BINARY_HEADERS_ROOT}/deprecated.hpp
-  ${BINARY_HEADERS_ROOT}/warning.hpp)
-
-IF(BUILD_WITH_URDF_SUPPORT)
-  LIST(APPEND ${PROJECT_NAME}_SOURCES
-    parsers/urdf/model.cpp
-    parsers/urdf/geometry.cpp
-    parsers/urdf/utils.cpp
-  )
-ELSE(BUILD_WITH_URDF_SUPPORT)
-  LIST(REMOVE_ITEM PUBLIC_HEADERS
-    ${SOURCE_HEADERS_ROOT}/parsers/urdf.hpp
-    ${SOURCE_HEADERS_ROOT}/parsers/urdf/model.hxx
-    ${SOURCE_HEADERS_ROOT}/parsers/urdf/geometry.hxx
-    ${SOURCE_HEADERS_ROOT}/parsers/urdf/utils.hpp
-    ${SOURCE_HEADERS_ROOT}/parsers/urdf/types.hpp
-    )
-ENDIF()
-
-# Parser for Python model
-IF(NOT BUILD_WITH_LIBPYTHON)
-  LIST(REMOVE_ITEM PUBLIC_HEADERS ${SOURCE_HEADERS_ROOT}/parsers/python.hpp)
-ENDIF(BUILD_WITH_LIBPYTHON)
-
-LIST(APPEND ${PROJECT_NAME}_SOURCES utils/file-explorer.cpp)
-
 # Extract the compile definitions of the project for export
 GET_DIRECTORY_PROPERTY(CURRENT_COMPILE_DEFINITIONS COMPILE_DEFINITIONS)
 
+REMOVE_PATH_FROM_LIST(${PROJECT_NAME}_CORE_SOURCES "src/" ${PROJECT_NAME}_CORE_SOURCES)
+PREPEND_PATH_FROM_LIST(${PROJECT_NAME}_CORE_PUBLIC_HEADERS
+  "../"
+  ${PROJECT_NAME}_CORE_PUBLIC_HEADERS)
+
 # Create target libpinocchio.so
-ADD_LIBRARY(${PROJECT_NAME} SHARED ${PUBLIC_HEADERS} ${PRIVATE_HEADERS} ${${PROJECT_NAME}_SOURCES})
+ADD_LIBRARY(${PROJECT_NAME} SHARED
+  ${${PROJECT_NAME}_CORE_SOURCES}
+  ${${PROJECT_NAME}_CORE_PUBLIC_HEADERS}
+  ${${PROJECT_NAME}_CORE_PRIVATE_HEADERS})
 SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES
   LINKER_LANGUAGE CXX
   INSTALL_RPATH "\$ORIGIN"
@@ -68,10 +32,6 @@ ADD_LIBRARY(${PROJECT_NAME}_headers INTERFACE)
 # Exclude parts from hppfcl which is not header only
 IF(BUILD_WITH_HPP_FCL_SUPPORT)
   LIST(REMOVE_ITEM CURRENT_COMPILE_DEFINITIONS PINOCCHIO_WITH_HPP_FCL)
-ELSE(BUILD_WITH_HPP_FCL_SUPPORT)
-  LIST(REMOVE_ITEM PUBLIC_HEADERS
-    ${SOURCE_HEADERS_ROOT}/spatial/fcl-pinocchio-conversions.hpp
-    )
 ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 
 TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME}_headers INTERFACE ${CURRENT_COMPILE_DEFINITIONS})
@@ -131,9 +91,9 @@ IF(hpp-fcl_FOUND)
   TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC hpp-fcl::hpp-fcl)
 ENDIF(hpp-fcl_FOUND)
 
-ADD_HEADER_GROUP(PUBLIC_HEADERS)
-ADD_HEADER_GROUP(PRIVATE_HEADERS)
-ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)
+ADD_SOURCE_GROUP(${PROJECT_NAME}_CORE_SOURCES)
+ADD_HEADER_GROUP(${PROJECT_NAME}_CORE_PUBLIC_HEADERS)
+ADD_HEADER_GROUP(${PROJECT_NAME}_CORE_PRIVATE_HEADERS)
 
 INSTALL(TARGETS ${PROJECT_NAME}
   EXPORT ${TARGETS_EXPORT_NAME}
@@ -146,11 +106,3 @@ INSTALL(TARGETS ${PROJECT_NAME}_headers
   LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
   ARCHIVE DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
   RUNTIME DESTINATION ${CMAKE_INSTALL_FULL_BINDIR})
-
-FOREACH(header ${PUBLIC_HEADERS})
-  GET_FILENAME_COMPONENT(header_path ${header} PATH)
-  STRING(REPLACE "../" "" non_relative_header_path ${header_path})
-  INSTALL(FILES ${header}
-          DESTINATION ${CMAKE_INSTALL_PREFIX}/${non_relative_header_path}
-          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
-ENDFOREACH(header)

From f45268397c7cab6eb47141ebe83f7e7142f7a1e6 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@navya.tech>
Date: Fri, 20 Oct 2023 16:39:38 +0200
Subject: [PATCH 10/13] [cmake] Remove optional header from the main sources
 list

---
 sources.cmake | 2 --
 1 file changed, 2 deletions(-)

diff --git a/sources.cmake b/sources.cmake
index a0e9aca375..6051443985 100644
--- a/sources.cmake
+++ b/sources.cmake
@@ -11,7 +11,6 @@ SET(${PROJECT_NAME}_CORE_PUBLIC_HEADERS
   include/pinocchio/spatial/explog-quaternion.hpp
   include/pinocchio/spatial/log.hxx
   include/pinocchio/spatial/spatial-axis.hpp
-  include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
   include/pinocchio/spatial/symmetric3.hpp
   include/pinocchio/spatial/act-on-set.hpp
   include/pinocchio/spatial/fwd.hpp
@@ -221,7 +220,6 @@ SET(${PROJECT_NAME}_CORE_PUBLIC_HEADERS
   include/pinocchio/deprecation.hpp
   include/pinocchio/core/unary-op.hpp
   include/pinocchio/core/binary-op.hpp
-  include/pinocchio/parsers/python.hpp
   include/pinocchio/parsers/urdf.hpp
   include/pinocchio/parsers/sample-models.hpp
   include/pinocchio/parsers/utils.hpp

From e2bc410c0735121eb90923586cc0617c31fe5e9c Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@navya.tech>
Date: Mon, 23 Oct 2023 13:35:35 +0200
Subject: [PATCH 11/13] Python remove useless include

---
 include/pinocchio/parsers/python.hpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/include/pinocchio/parsers/python.hpp b/include/pinocchio/parsers/python.hpp
index ba6e9a2b38..6acc9ddfdb 100644
--- a/include/pinocchio/parsers/python.hpp
+++ b/include/pinocchio/parsers/python.hpp
@@ -5,8 +5,6 @@
 #ifndef __pinocchio_parser_python_hpp__
 #define __pinocchio_parser_python_hpp__
 
-#include "pinocchio/macros.hpp"
-
 #include "pinocchio/bindings/python/parsers/python.hpp"
 
 #endif // ifndef __pinocchio_parser_python_hpp__

From 82b436ab78dac017b0e28c0388ece4d9f12a1f4d Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@gmail.com>
Date: Mon, 23 Oct 2023 13:37:36 +0200
Subject: [PATCH 12/13] Update CMakeLists.txt

Co-authored-by: Guilhem Saurel <guilhem.saurel@laas.fr>
---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ae4df9d713..843ff9e015 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -247,7 +247,7 @@ IF(BUILD_PYTHON_INTERFACE)
     )
 ENDIF(BUILD_PYTHON_INTERFACE)
 
-# Macros to update souces path in subdirs
+# Macros to update sources path in subdirs
 FUNCTION(REMOVE_PATH_FROM_LIST list_name path_name dest_list)
   SET(list_name_)
   FOREACH(header ${${list_name}})

From d16211874c1de2af7f301db0dc4017b76bcf94ec Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@navya.tech>
Date: Tue, 24 Oct 2023 10:37:30 +0200
Subject: [PATCH 13/13] cmake: Rename private headers into generated headers

---
 CMakeLists.txt     | 12 ++++++++----
 sources.cmake      |  2 +-
 src/CMakeLists.txt |  4 ++--
 3 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 843ff9e015..80b616b8d2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -201,11 +201,13 @@ ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 # Sources definition
 INCLUDE(sources.cmake)
 
+# URDF sources
 IF(BUILD_WITH_URDF_SUPPORT)
   LIST(APPEND ${PROJECT_NAME}_CORE_SOURCES ${${PROJECT_NAME}_URDF_SOURCES})
   LIST(APPEND ${PROJECT_NAME}_CORE_PUBLIC_HEADERS ${${PROJECT_NAME}_URDF_PUBLIC_HEADERS})
 ENDIF(BUILD_WITH_URDF_SUPPORT)
 
+# LibPython sources
 IF(BUILD_WITH_LIBPYTHON)
   LIST(APPEND ${PROJECT_NAME}_CORE_PUBLIC_HEADERS
     ${${PROJECT_NAME}_LIBPYTHON_PUBLIC_HEADERS})
@@ -215,6 +217,7 @@ IF(BUILD_WITH_LIBPYTHON)
     ${${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_PUBLIC_HEADERS})
 ENDIF(BUILD_WITH_LIBPYTHON)
 
+# HPP-FCL sources
 IF(BUILD_WITH_HPP_FCL_SUPPORT)
   LIST(APPEND ${PROJECT_NAME}_CORE_PUBLIC_HEADERS
     ${${PROJECT_NAME}_HPP_FCL_PUBLIC_HEADERS})
@@ -224,16 +227,17 @@ IF(BUILD_WITH_HPP_FCL_SUPPORT)
     ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PUBLIC_HEADERS})
 ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 
+# OpenMP and HPP-FCL+OpenMP sources
 IF(BUILD_WITH_OPENMP_SUPPORT)
   LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
     ${${PROJECT_NAME}_BINDINGS_PYTHON_OPENMP_SOURCES})
   LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
     ${${PROJECT_NAME}_BINDINGS_PYTHON_OPENMP_PUBLIC_HEADERS})
   IF(BUILD_WITH_HPP_FCL_SUPPORT)
-  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
-    ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_OPENMP_SOURCES})
-  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
-    ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_OPENMP_PUBLIC_HEADERS})
+    LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+      ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_OPENMP_SOURCES})
+    LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+      ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_OPENMP_PUBLIC_HEADERS})
   ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 ENDIF()
 
diff --git a/sources.cmake b/sources.cmake
index 6051443985..1d320c3451 100644
--- a/sources.cmake
+++ b/sources.cmake
@@ -255,7 +255,7 @@ SET(${PROJECT_NAME}_HPP_FCL_PUBLIC_HEADERS
   )
 
 SET(_binary_headers_root ${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio)
-SET(${PROJECT_NAME}_CORE_PRIVATE_HEADERS
+SET(${PROJECT_NAME}_CORE_GENERATED_PUBLIC_HEADERS
   ${_binary_headers_root}/config.hpp
   ${_binary_headers_root}/deprecated.hpp
   ${_binary_headers_root}/warning.hpp
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index e87c3f8c47..f2c3095893 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -19,7 +19,7 @@ PREPEND_PATH_FROM_LIST(${PROJECT_NAME}_CORE_PUBLIC_HEADERS
 ADD_LIBRARY(${PROJECT_NAME} SHARED
   ${${PROJECT_NAME}_CORE_SOURCES}
   ${${PROJECT_NAME}_CORE_PUBLIC_HEADERS}
-  ${${PROJECT_NAME}_CORE_PRIVATE_HEADERS})
+  ${${PROJECT_NAME}_CORE_GENERATED_PUBLIC_HEADERS})
 SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES
   LINKER_LANGUAGE CXX
   INSTALL_RPATH "\$ORIGIN"
@@ -93,7 +93,7 @@ ENDIF(hpp-fcl_FOUND)
 
 ADD_SOURCE_GROUP(${PROJECT_NAME}_CORE_SOURCES)
 ADD_HEADER_GROUP(${PROJECT_NAME}_CORE_PUBLIC_HEADERS)
-ADD_HEADER_GROUP(${PROJECT_NAME}_CORE_PRIVATE_HEADERS)
+ADD_HEADER_GROUP(${PROJECT_NAME}_CORE_GENERATED_PUBLIC_HEADERS)
 
 INSTALL(TARGETS ${PROJECT_NAME}
   EXPORT ${TARGETS_EXPORT_NAME}