Force HPP-FCL bindings dependency

[gabrielebndn]

Currently, Pinocchio Python bindings can be built:

1. Without FCL
2. With FCL, but without FCL bindings
3. With FCL, including the bindings

I believe the second option is unreasonable and only adds complexity. If Python bindings are built with HPP-FCL, then HPP-FCL bindings should be enforced. Ideally, we should add something like this to the CMakeLists.txt:

IF(BUILD_PYTHON_INTERFACE AND BUILD_WITH_COLLISION_SUPPORT)
  ADD_REQUIRED_DEPENDENCY("hpp-fcl-python")
ENDIF(BUILD_PYTHON_INTERFACE AND BUILD_WITH_COLLISION_SUPPORT)

so we need a way to detect hpp-fcl Python bindings via cmake.

What do you think?

[jcarpent]

We cannot check FCL bindings with pkg-config. I mean this is not a standard way of doing it. In addition, we are not sure yet to get the latest FCL version on all the platforms.

@nim65s Is hpp-fcl latest release available on robotpkg?

To do it correctly, I would suggest using directly the packaging of CMake, which allows exporting additional targets, such as the Python bindings.

[gabrielebndn]

In addition, we are not sure yet to get the latest FCL version on all the platforms.

For this, it will be enough to do a new HPP-FCL release and then increase the minimum version required by Pinocchio. This way everybody using HPP-FCL will be forced to upgrade. We cannot think of maintaining the whole combinatorics and I do not see why anybody should want to keep old versions.

To do it correctly, I would suggest using directly the packaging of CMake, which allows exporting additional targets, such as the Python bindings.

Yes, I think this may be the correct way.

[jcarpent]

Changing the minimal version number is indeed in the pipe. As I mentioned previously,I’m waiting the update from robot from robotpkg first. I will close the issue and I will take care of all it soon.

[nim65s]

On robotpkg, hpp-fcl is on v1.2.1. The current latest is 1.2.2. I'll update it.

[nim65s]

@jcarpent 1.2.2 is available

[jcarpent]

@nim65s Thanks a lot!