Add IDYNTREE_DETECT_ACTIVE_PYTHON_SITEPACKAGES CMake option

CHANGELOG.md

@@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 - Add the possibility to use `MatrixView` and `Span` as input/output objects for `InverseKinematics` class (https://github.com/robotology/idyntree/pull/822).
 - Add the possibility to get frame trasform from the visualizer, and to use frame/link name in place of indices (https://github.com/robotology/idyntree/pull/849).
+- Add `IDYNTREE_DETECT_ACTIVE_PYTHON_SITEPACKAGES` CMake option (default value: OFF) to detect and install in the active site-package directory the Python bindings (https://github.com/robotology/idyntree/pull/852).
 
 ### Changed
 - The wheels uploaded to PyPI are now `manylinux_2_24` compliant (https://github.com/robotology/idyntree/pull/844)

bindings/CMakeLists.txt

@@ -9,14 +9,27 @@ option(IDYNTREE_USES_LUA "Do you want to create the Lua bindings" FALSE)
 option(IDYNTREE_USES_MATLAB "Do you want to create the MATLAB bindings" FALSE)
 option(IDYNTREE_USES_OCTAVE "Do you want to create the OCTAVE bindings" FALSE)
 option(IDYNTREE_GENERATE_MATLAB "Enable if you have the experimental version of SWIG necessary for generating the Matlab wrapper" FALSE)
+option(IDYNTREE_DETECT_ACTIVE_PYTHON_SITEPACKAGES "Do you want iDynTree to detect and install in the active site-package directory? (it could be a system dir)" FALSE)
 
 find_package(SWIG)
 
-# Setup installation directory for Python bindings.
-if (IDYNTREE_USES_PYTHON_PYBIND11 OR IDYNTREE_USES_PYTHON)
-    if(IDYNTREE_PACKAGE_FOR_PYPI)
-        set(PYTHON_INSTDIR ${CMAKE_INSTALL_PREFIX})
+if(IDYNTREE_USES_PYTHON OR IDYNTREE_USES_PYTHON_PYBIND11)
+    if(${CMAKE_VERSION} VERSION_LESS "3.18.0")
+        set(IDYNTREE_SEARCHED_Python_Development_Component "Development")
+    else()
+        set(IDYNTREE_SEARCHED_Python_Development_Component "Development.Module")
+    endif()
+    find_package(Python3 COMPONENTS Interpreter ${IDYNTREE_SEARCHED_Python_Development_Component} NumPy REQUIRED)
+
+    if (IDYNTREE_DETECT_ACTIVE_PYTHON_SITEPACKAGES)
+       set(PYTHON_INSTDIR ${Python3_SITELIB}/idyntree)
+    elseif(IDYNTREE_PACKAGE_FOR_PYPI)
+       set(PYTHON_INSTDIR ${CMAKE_INSTALL_PREFIX})
     else()
+        execute_process(COMMAND ${Python3_EXECUTABLE}
+                        -c "from distutils import sysconfig; print(sysconfig.get_python_lib(1,0,prefix=''))"
+                        OUTPUT_VARIABLE _PYTHON_INSTDIR)
+        string(STRIP ${_PYTHON_INSTDIR} IDYNTREE_PYTHON_INSTALL_DIR)
         set(PYTHON_INSTDIR ${IDYNTREE_PYTHON_INSTALL_DIR}/idyntree)
     endif()
 endif()

bindings/pybind11/CMakeLists.txt

@@ -1,9 +1,3 @@
-if(${CMAKE_VERSION} VERSION_LESS "3.18.0")
-    find_package(Python3 COMPONENTS Interpreter Development NumPy REQUIRED)
-else()
-    find_package(Python3 COMPONENTS Interpreter Development.Module NumPy REQUIRED)
-endif()
-
 pybind11_add_module(pybind11_idyntree SYSTEM idyntree.cpp
                                     error_utilities.h error_utilities.cpp
                                     idyntree_core.h idyntree_core.cpp

bindings/python/CMakeLists.txt

@@ -1,11 +1,3 @@
-if(${CMAKE_VERSION} VERSION_LESS "3.18.0")
-    find_package(Python3 COMPONENTS Interpreter Development NumPy REQUIRED)
-else()
-    find_package(Python3 COMPONENTS Interpreter Development.Module NumPy REQUIRED)
-endif()
-
-message(STATUS "Using Python: ${Python3_EXECUTABLE}")
-
 cmake_policy(SET CMP0078 NEW)
 cmake_policy(SET CMP0086 NEW)
 

cmake/iDynTreeOptions.cmake

@@ -73,17 +73,7 @@ if(IDYNTREE_COMPILE_BINDINGS)
     add_definitions(-DIDYNTREE_COMPILE_BINDINGS)
 endif(IDYNTREE_COMPILE_BINDINGS)
 
-if(IDYNTREE_USES_PYTHON OR IDYNTREE_USES_PYTHON_PYBIND11)
-    find_package(Python3 COMPONENTS Interpreter QUIET)
-    if (Python3_FOUND)
-        execute_process(COMMAND ${Python3_EXECUTABLE}
-            -c "from distutils import sysconfig; print(sysconfig.get_python_lib(1,0,prefix=''))"
-            OUTPUT_VARIABLE _PYTHON_INSTDIR)
-        string(STRIP ${_PYTHON_INSTDIR} IDYNTREE_PYTHON_INSTALL_DIR)
-        # Bindings are installed in `idyntree` subdirectory.
-        list(APPEND IDYNTREE_BINARY_DIRS "${IDYNTREE_PYTHON_INSTALL_DIR}/idyntree")
-    endif()
-endif()
+
 
 #set default build type to "Release" in single-config generators
 if(NOT CMAKE_CONFIGURATION_TYPES)