Default to shared libraries also on Windows, fix installation of shared libraries on Windows and bump minimum required version of CMake to 3.16

[traversaro]

For consistency with Linux and macOS.

[traversaro]

Windows failure:

 cmake-package-check: FAILURE.
Traceback (most recent call last):
  File "<string>", line 1, in <module>
  File "C:\Users\runneradmin\micromamba\envs\human-dynamics-estimation\Lib\site-packages\wearables\__init__.py", line 7
    os.add_dll_directory(library_dll_path)$
                                          ^
SyntaxError: invalid syntax
Traceback (most recent call last):
  File "<string>", line 1, in <module>
  File "C:\Users\runneradmin\micromamba\envs\human-dynamics-estimation\Lib\site-packages\hde\__init__.py", line 7
    os.add_dll_directory(library_dll_path)$
                                          ^
SyntaxError: invalid syntax

[traversaro]

This is failing with:

-- Found Python3: C:/Users/runneradmin/micromamba/envs/human-dynamics-estimation/python.exe (found suitable version "3.12.6", minimum required is "3.6") found components: Interpreter Development Development.Module Development.Embed
-- Performing Test HAS_MSVC_GL_LTCG
-- Performing Test HAS_MSVC_GL_LTCG - Success
-- Found pybind11: C:/Users/runneradmin/micromamba/envs/human-dynamics-estimation/Library/include (found version "2.13.6")
-- Added files for bindings named MsgsBindings in HumanDynamicsEstimationBindings.
-- Added files for bindings named MsgsBindings in HumanDynamicsEstimationBindings.
-- Configuring done (2.4s)
CMake Error in CMakeLists.txt:
  IMPORTED_IMPLIB not set for imported target
  "HumanDynamicsEstimation::HumanStateMsg" configuration "Release".

ninja: error: loading 'build.ninja': The system cannot find the file specified.

That is the same error we are experiencing in conda-forge/staged-recipes#27723 .

[traversaro]

This is failing with:

-- Found Python3: C:/Users/runneradmin/micromamba/envs/human-dynamics-estimation/python.exe (found suitable version "3.12.6", minimum required is "3.6") found components: Interpreter Development Development.Module Development.Embed
-- Performing Test HAS_MSVC_GL_LTCG
-- Performing Test HAS_MSVC_GL_LTCG - Success
-- Found pybind11: C:/Users/runneradmin/micromamba/envs/human-dynamics-estimation/Library/include (found version "2.13.6")
-- Added files for bindings named MsgsBindings in HumanDynamicsEstimationBindings.
-- Added files for bindings named MsgsBindings in HumanDynamicsEstimationBindings.
-- Configuring done (2.4s)
CMake Error in CMakeLists.txt:
  IMPORTED_IMPLIB not set for imported target
  "HumanDynamicsEstimation::HumanStateMsg" configuration "Release".

ninja: error: loading 'build.ninja': The system cannot find the file specified.

That is the same error we are experiencing in conda-forge/staged-recipes#27723 .

The problem is that the install(TARGETS ...) commands were missing the ARCHIVE DESTINATION, so static libraries or import libraries were not installed. To remove the problem, instead of adding ARCHIVE DESTINATION I removed RUNTIME DESTINATION and LIBRARY DESTINATION, as anyhow we were just setting them to the default values (see https://cmake.org/cmake/help/v3.16/command/install.html#installing-targets, setting the values explicitly is a leftover from older CMake versions in which there were no defaults).

[traversaro]

The problem is that the install(TARGETS ...) commands were missing the ARCHIVE DESTINATION, so static libraries or import libraries were not installed. To remove the problem, instead of adding ARCHIVE DESTINATION I removed RUNTIME DESTINATION and LIBRARY DESTINATION, as anyhow we were just setting them to the default values (see https://cmake.org/cmake/help/v3.16/command/install.html#installing-targets, setting the values explicitly is a leftover from older CMake versions in which there were no defaults).

To do so, I bumped the CMake version to 3.16 as 3.5 is quite old and does not have the default destination for install(TARGETS ...), and anyhow CMake 3.16 is the version available by default on Ubuntu 20.04 : https://repology.org/project/cmake/versions .