bench and examples CMakeLists : do not try to compile se2-car.cpp and talos-walk.cpp without Pinocchio support

Author: ManifoldFR

CMakeLists.txt

@@ -500,6 +500,7 @@ endif()
 if(
   NOT BUILD_STANDALONE_PYTHON_INTERFACE
   AND (BUILD_EXAMPLES OR BUILD_BENCHMARKS)
+  AND BUILD_WITH_PINOCCHIO_SUPPORT
 )
   add_library(
     talos_walk_utils

bench/CMakeLists.txt

@@ -21,15 +21,12 @@ function(create_bench exfile)
   target_include_directories(${_exname} PRIVATE ../examples)
 endfunction()
 
-function(create_gar_bench exfile)
-  create_bench(${exfile} DEPENDENCIES gar_test_utils)
-endfunction()
-
 create_bench(lqr.cpp)
-create_bench(se2-car.cpp)
-create_bench(talos-walk.cpp DEPENDENCIES talos_walk_utils)
+create_bench(gar-riccati.cpp DEPENDENCIES gar_test_utils)
+if(BUILD_WITH_PINOCCHIO_SUPPORT)
+  create_bench(se2-car.cpp)
+  create_bench(talos-walk.cpp DEPENDENCIES talos_walk_utils)
+endif()
 if(BUILD_CROCODDYL_COMPAT)
   create_bench(croc-talos-arm.cpp CROC)
 endif()
-
-create_gar_bench(gar-riccati.cpp)

examples/CMakeLists.txt

@@ -23,8 +23,10 @@ endfunction()
 
 if(NOT BUILD_STANDALONE_PYTHON_INTERFACE)
   create_example(clqr.cpp)
-  create_example(talos-walk.cpp DEPENDENCIES talos_walk_utils)
-  create_example(se2-car.cpp)
+  if(BUILD_WITH_PINOCCHIO_SUPPORT)
+    create_example(talos-walk.cpp DEPENDENCIES talos_walk_utils)
+    create_example(se2-car.cpp)
+  endif()
 
   if(BUILD_CROCODDYL_COMPAT)
     ADD_PROJECT_PRIVATE_DEPENDENCY(example-robot-data 4.0.9 REQUIRED)