Add cmake pkg-config support

[mborland]

Closes: #252

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 99.52%. Comparing base (d16f656) to head (140e4d3).
⚠️ Report is 62 commits behind head on develop.

Additional details and impacted files

@@           Coverage Diff            @@
##           develop     #253   +/-   ##
========================================
  Coverage    99.52%   99.52%           
========================================
  Files           47       47           
  Lines         4833     4833           
  Branches      1323     1323           
========================================
  Hits          4810     4810           
  Misses          23       23           

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