Fix standalone installation of MATLAB bindings with already installed iDynTree and add tests

.github/workflows/ci.yml

@@ -88,15 +88,15 @@ jobs:
       run: |
         mkdir build
         cd build
-        cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_QT5:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON ..
+        cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_QT5:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON ..
 
     - name: Configure [Conda/Windows]
       if: contains(matrix.os, 'windows')
       shell: bash -l {0}
       run: |
         mkdir build
         cd build
-        cmake -G"Visual Studio 16 2019"  -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON  -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON  -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_QT5:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON ..
+        cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON  -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON  -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_QT5:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON ..
 
     - name: Build [Conda]
       shell: bash -l {0}
@@ -117,6 +117,34 @@ jobs:
         cd build
         # Visualizer tests excluded as a workaround for https://github.com/robotology/idyntree/issues/808
         ctest --output-on-failure -C ${{ matrix.build_type }} -E "Visualizer|matlab" . 
+
+    - name: Install [Conda]
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --install . --config ${{ matrix.build_type }}
+
+    - name: Test standalone installation of MATLAB bindings [Conda/Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd bindings
+        mkdir build
+        cd build
+        cmake -GNinja  -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/idyntree_bindings_install_test -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON ..
+        cmake --build . --config ${{ matrix.build_type }}
+        cmake --install . --config ${{ matrix.build_type }}
+
+    - name: Test standalone installation of MATLAB bindings [Conda/Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        cd bindings
+        mkdir build
+        cd build
+        cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library/idyntree_bindings_install_test -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON ..
+        cmake --build . --config ${{ matrix.build_type }}
+        cmake --install . --config ${{ matrix.build_type }}
 
   build-with-system-dependencies:
     name: '[${{ matrix.os }}@${{ matrix.build_type }}]'

CHANGELOG.md

@@ -6,6 +6,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+## [3.3.1] - 2021-07-15
+
+### Fixed 
+- Fixed the possibility of installing the bindings of iDynTree (`bindings` directory) on their own, against an already compiled system iDynTree (https://github.com/robotology/idyntree/pull/896).
+
 ## [3.3.0] - 2021-07-08
 
 ### Added

CMakeLists.txt

@@ -8,7 +8,7 @@
 
 cmake_minimum_required(VERSION 3.16)
 
-project(iDynTree VERSION 3.3.0
+project(iDynTree VERSION 3.3.1
                  LANGUAGES C CXX)
 
 # Disable in source build, unless Eclipse is used

bindings/CMakeLists.txt

@@ -13,6 +13,10 @@ if(IDYNTREE_BINDINGS_BUILD_STANDALONE)
   list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../cmake)
   find_package(iDynTree REQUIRED)
   set(IDYNTREE_LIBRARIES ${iDynTree_LIBRARIES})
+  # Set variables that are set in extern
+  get_filename_component(PARENT_DIR ${CMAKE_CURRENT_SOURCE_DIR} DIRECTORY)
+  set(IDYNTREE_INTERNAL_MOXUNIT_PATH "${PARENT_DIR}/extern/MOxUnit/MOxUnit")
+  set(IDYNTREE_INTERNAL_MESH2TRI_PATH "${PARENT_DIR}/extern/mesh2tri")
 else()
   get_property(IDYNTREE_LIBRARIES GLOBAL PROPERTY ${VARS_PREFIX}_TARGETS)
 endif()