cmake: Fix build without benchmark

benchmark/CMakeLists.txt

@@ -6,7 +6,10 @@
 # --- BENCHMARK --------------------------------------
 # ----------------------------------------------------
 add_custom_target(bench)
-add_project_private_dependency(benchmark REQUIRED)
+
+if(BUILD_BENCHMARK)
+  add_project_private_dependency(benchmark REQUIRED)
+endif()
 
 macro(ADD_PINOCCHIO_BENCH bench_name)
   set(options HEADER_ONLY GOOGLE_BENCHMARK)
@@ -16,22 +19,20 @@ macro(ADD_PINOCCHIO_BENCH bench_name)
 
   if(BUILD_BENCHMARK)
     add_executable(${bench_name} ${bench_name}.cpp)
-  else()
-    add_executable(${bench_name} EXCLUDE_FROM_ALL ${bench_name}.cpp)
-  endif()
 
-  target_compile_definitions(${bench_name} PRIVATE PINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
-  if(NOT unit_test_HEADER_ONLY)
-    target_link_libraries(${bench_name} PRIVATE pinocchio_default)
-  else()
-    target_link_libraries(${bench_name} PRIVATE pinocchio_headers)
-  endif()
+    target_compile_definitions(${bench_name} PRIVATE PINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
+    if(NOT unit_test_HEADER_ONLY)
+      target_link_libraries(${bench_name} PRIVATE pinocchio_default)
+    else()
+      target_link_libraries(${bench_name} PRIVATE pinocchio_headers)
+    endif()
 
-  if(unit_test_GOOGLE_BENCHMARK)
-    target_link_libraries(${bench_name} PRIVATE benchmark::benchmark)
-  endif()
+    if(unit_test_GOOGLE_BENCHMARK)
+      target_link_libraries(${bench_name} PRIVATE benchmark::benchmark)
+    endif()
 
-  add_dependencies(bench ${bench_name})
+    add_dependencies(bench ${bench_name})
+  endif()
 endmacro()
 
 # timings