Install header-only pkgconfig file to generic lib/

The previous version assumed that we had libraries, and thus always
installs the .pc file in the multi-arch library directory. However,
we now have modules which does not have a library, but whose header
files still need to be located. Since the lib/ directory is usually
in the pkgconfig search path, it is natural to put them there.
Merge pull request #413 from rolk/413_inst

Install header-only pkgconfig file to generic lib/