Fix librcs RPATH

Author: pkrack

cmake/Findpinocchio.cmake

@@ -46,19 +46,23 @@ if (NOT pinocchio_FOUND)
     # Create the imported target
     add_library(pinocchio::pinocchio SHARED IMPORTED)
     target_include_directories(pinocchio::pinocchio INTERFACE ${pinocchio_INCLUDE_DIRS})
-    set_target_properties(
-        pinocchio::pinocchio
-	PROPERTIES
+    set_target_properties(pinocchio::pinocchio
+        PROPERTIES
         IMPORTED_LOCATION "${pinocchio_library_path}"
     )
-    
-    add_library(pinocchio_parsers SHARED IMPORTED)
-    target_include_directories(pinocchio_parsers INTERFACE ${pinocchio_INCLUDE_DIRS})
-    set_target_properties(
-        pinocchio_parsers
-	PROPERTIES
+
+    add_library(pinocchio::parsers SHARED IMPORTED)
+    target_include_directories(pinocchio::parsers INTERFACE ${pinocchio_INCLUDE_DIRS})
+    set_target_properties(pinocchio::parsers
+        PROPERTIES
         IMPORTED_LOCATION "${pinocchio_parsers_path}"
     )
+
+    add_library(pinocchio::all INTERFACE IMPORTED)
+    set_target_properties(pinocchio::all
+        PROPERTIES
+        INTERFACE_LINK_LIBRARIES "pinocchio::pinocchio;pinocchio::parsers"
+    )
     set(pinocchio_FOUND TRUE)
 
 endif()

src/rcs/CMakeLists.txt

@@ -1,4 +1,7 @@
 add_library(rcs SHARED)
 target_include_directories(rcs PUBLIC ${CMAKE_SOURCE_DIR}/include)
 target_sources(rcs PRIVATE Pose.cpp Robot.cpp IK.cpp utils.cpp)
-target_link_libraries(rcs PUBLIC Eigen3::Eigen mdl pinocchio::pinocchio pinocchio_parsers)
+target_link_libraries(rcs PUBLIC Eigen3::Eigen mdl pinocchio::all)
+set_target_properties(rcs PROPERTIES
+    INSTALL_RPATH "$ORIGIN;$ORIGIN/../cmeel.prefix/lib"
+)