Conditional ddp-actuator-solver dependency

[NoelieRamuzat]

Hi !

Sot-torque-control has a required dependency to the ddp-actuator-solver package, only needed if you want to use a ddp algorithm, which is most of the time not the case.
Is it possible to make this dependency conditional like it seems to be for the sources ?
In the src/CMakeLists.txt there is this condition:

IF(DDP_ACTUATOR_SOLVER_FOUND)
  SET(plugins ${plugins} ddp-actuator-solver)
  SET(plugins ${plugins} ddp_pyrene_actuator_solver)
ENDIF(DDP_ACTUATOR_SOLVER_FOUND)

Can we have something similar in the CMakeLists.txt instead of:
ADD_PROJECT_DEPENDENCY(ddp-actuator-solver REQUIRED PKG_CONFIG_REQUIRES ddp-actuator-solver)

Thank you !

[andreadelprete]

Sounds very reasonable to me