Jenkinsfile

 def engine = new groovy.text.SimpleTemplateEngine()
 
 def blOpts = readYaml text:'''
      cmakeOpts: "-DCMAKE_INSTALL_PREFIX=${installDir}/${pkg.toLowerCase()} -DCMAKE_BUILD_TYPE=${pkg.toLowerCase()}"
      package: 
        - "Debug"
        - "Release"
      '''
 
 node {
    def pkg = ''
    stage('Cmake') {
        def installDir = "${WORKSPACE}/bindir"
        for (int i = 0; i < blOpts.package.size(); i++) {
            pkg = blOpts.package[i]
            def binding = [
                 installDir : installDir,
                 pkg  : pkg
             ]    
              def template = engine.createTemplate(blOpts.cmakeOpts).make(binding)
            
            cmkOpts = template.toString()
            echo "pkg: ${pkg}"
            echo "cmkOpts: ${cmkOpts}"
        }
    }
 }

Output.txt

16:25:51  [Pipeline] {
16:25:51  [Pipeline] stage
16:25:51  [Pipeline] { (Cmake)
16:25:51  [Pipeline] echo
16:25:51  pkg: Debug
16:25:51  [Pipeline] echo
16:25:51  cmkOpts: -DCMAKE_INSTALL_PREFIX=/home/jenkins/workspace/Test/foo/bindir/debug -DCMAKE_BUILD_TYPE=debug
16:25:51  [Pipeline] echo
16:25:51  pkg: Release
16:25:51  [Pipeline] echo
16:25:51  cmkOpts: -DCMAKE_INSTALL_PREFIX=/home/jenkins/workspace/Test/foo/bindir/release -DCMAKE_BUILD_TYPE=release
16:25:51  [Pipeline] }
16:25:51  [Pipeline] // stage
16:25:51  [Pipeline] }
16:25:51  [Pipeline] // node
16:25:51  [Pipeline] End of Pipeline