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Add support for specifying private dependencies for pkg-config files

Ingo Klöcker requested to merge work/kloecker/pkgconfig_private_deps into master

Private (and public) dependencies can be specified similar to CMake's target_link_libraries() with the PRIVATE and PUBLIC keywords. Private dependencies are added to the "Requires.private" entry in the pkg-config file.

This is my first attempt at writing CMake code. Comments are welcome.

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