Topic/move headers

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)
 

bindings/python/CMakeLists.txt

@@ -5,62 +5,31 @@
 
 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_)
-  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
-     ${CMAKE_CURRENT_SOURCE_DIR}/*.hpp
-     )
+  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
-     ${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}/" ${PROJECT_NAME}_PYTHON_SOURCES)
+SET(SOURCE_HEADERS_ROOT "../../include/${PROJECT_NAME}/bindings/python")
 
 # Parser for Python model
 IF(BUILD_WITH_LIBPYTHON)
   SET(${PROJECT_NAME}_PARSER_PYTHON_HEADERS
-    parsers/python.hpp
+    ${SOURCE_HEADERS_ROOT}/parsers/python.hpp
     )
 ELSE(BUILD_WITH_LIBPYTHON)
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
-    parsers/python.hpp
+    ${SOURCE_HEADERS_ROOT}/parsers/python.hpp
     )
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
     parsers/python/model.cpp
@@ -70,57 +39,29 @@ 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
+    ${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}" "^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_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}" "^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 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}" "")
-ENDIF(BUILD_WITH_LIBPYTHON)
-
 # --- COMPILE WRAPPER
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
 SET(${PYWRAP}_SOURCES ${${PROJECT_NAME}_PYTHON_SOURCES})
@@ -203,6 +144,15 @@ 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

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>

src/CMakeLists.txt

@@ -3,12 +3,45 @@
 # Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 #
 
+# ----------------------------------------------------
+# --- 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()
 
 LIST(APPEND ${PROJECT_NAME}_SOURCES utils/file-explorer.cpp)
@@ -17,10 +50,11 @@ 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(${PROJECT_NAME} PROPERTIES
   LINKER_LANGUAGE CXX
-  INSTALL_RPATH "\$ORIGIN")
+  INSTALL_RPATH "\$ORIGIN"
+  )
 TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PUBLIC ${CURRENT_COMPILE_DEFINITIONS})
 
 # Create header-only target
@@ -29,6 +63,10 @@ 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 PUBLIC_HEADERS
+    ${SOURCE_HEADERS_ROOT}/spatial/fcl-pinocchio-conversions.hpp
+    )
 ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 
 TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME}_headers INTERFACE ${CURRENT_COMPILE_DEFINITIONS})
@@ -88,7 +126,8 @@ IF(hpp-fcl_FOUND)
   TARGET_LINK_LIBRARIES(${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}
@@ -102,3 +141,11 @@ 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)

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>