cd ~/local/src/
git clone git://github.com/robotology/yarp.git
cd yarp
mkdir build
cd build
cmake -D CMAKE_INSTALL_PREFIX=${HOME}/local/DIR/yarp -D YARP_COMPILE_BINDINGS=ON -D CREATE_PYTHON=ON -D YARP_USE_PYTHON_VERSION=$(echo $(python --version) | tr -d a-zA-Z[:blank:]) -D CREATE_YARPDATADUMPER=OFF -D CREATE_GUIS=ON -D ENABLE_yarpmod_opencv_grabber=ON YARP_COMPILE_yarpviz=ON ..
make -j10
make install
cd ~/local/DIR
xstow yarp