From a19f0bc799a44abf9fd4a692feb85109af19d60d Mon Sep 17 00:00:00 2001
From: Andrea Ostuni <andrea.ostuni@polito.it>
Date: Sun, 26 Nov 2023 20:00:13 +0100
Subject: [PATCH 1/2] fix pybind11 high-level binds

---
 bindings/pybind11/CMakeLists.txt | 3 ++-
 src/high-level/CMakeLists.txt    | 6 +++---
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/bindings/pybind11/CMakeLists.txt b/bindings/pybind11/CMakeLists.txt
index 7e4ef6adcb..5a95f4937b 100644
--- a/bindings/pybind11/CMakeLists.txt
+++ b/bindings/pybind11/CMakeLists.txt
@@ -9,7 +9,8 @@ pybind11_add_module(pybind11_idyntree idyntree.cpp
 
 target_link_libraries(pybind11_idyntree PUBLIC idyntree-core
                                                idyntree-model
-                                               idyntree-modelio)
+                                               idyntree-modelio
+                                               idyntree-high-level)
 
 # The generated Python dynamic module must have the same name as the pybind11
 # module, i.e. `bindings`.
diff --git a/src/high-level/CMakeLists.txt b/src/high-level/CMakeLists.txt
index 563f5f9329..acddd88173 100644
--- a/src/high-level/CMakeLists.txt
+++ b/src/high-level/CMakeLists.txt
@@ -11,7 +11,7 @@ SOURCE_GROUP("Header Files" FILES ${IDYNTREE_HIGH_LEVEL_HEADERS})
 
 set(libraryname idyntree-high-level)
 
-add_library(${libraryname} ${IDYNTREE_HIGH_LEVEL_SOURCES} ${IDYNTREE_HIGH_LEVEL_HEADERS} ${IDYNTREE_HIGH_LEVEL_PRIVATE_INCLUDES})
+add_library(${libraryname} ${IDYNTREE_HIGH_LEVEL_SOURCES} ${IDYNTREE_HIGH_LEVEL_HEADERS})
 add_library(iDynTree::${libraryname} ALIAS ${libraryname})
 
 target_include_directories(${libraryname} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
@@ -28,8 +28,8 @@ install(TARGETS ${libraryname}
         RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT bin
         LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT shlib
         ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT lib
-        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/iDynTree/
-        PRIVATE_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/iDynTree/)
+        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/iDynTree
+        PRIVATE_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/iDynTree/impl)
 
 set_property(GLOBAL APPEND PROPERTY ${VARS_PREFIX}_TARGETS ${libraryname})
 

From 93e8d2dfeff01f384f2b325a0f5bba5fc8840ec5 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Mon, 27 Nov 2023 09:25:02 +0100
Subject: [PATCH 2/2] Update CHANGELOG.md

---
 CHANGELOG.md | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index d91d865c7f..9fb99a74e7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 - CMake: Permit to explicitly specify Python installation directory by setting the `IDYNTREE_PYTHON_INSTALL_DIR` CMake variable (https://github.com/robotology/idyntree/pull/1124).
 
+### Fixed
+
+- Fixed compilation of pybind11 bindings (https://github.com/robotology/idyntree/pull/1128).
+
 ## [10.0.0] - 2023-10-16
 
 ### Added