diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1841b679d6e18906fbcf769f977d77af7c1b5a1e..16d1069ae266d1a6a9b1250ec469aa9e426e5a0a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -154,4 +154,9 @@ pkg_config_append_libs("fcl")
 add_subdirectory(src)
 add_subdirectory(test)
 
+config_files(include/fcl/config-fcl.hh)
+install(FILES ${PROJECT_BINARY_DIR}/include/fcl/config-fcl.hh
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/fcl
+  PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+  )
 setup_project_finalize()
diff --git a/include/fcl/config-fcl.hh.in b/include/fcl/config-fcl.hh.in
new file mode 100644
index 0000000000000000000000000000000000000000..14cc27ddfd5960d453ca509ef6444dc2e60e292d
--- /dev/null
+++ b/include/fcl/config-fcl.hh.in
@@ -0,0 +1,46 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef FCL_CONFIG_FCL_HH
+# define FCL_CONFIG_FCL_HH
+
+# include "config.h"
+
+#cmakedefine01 FCL_HAVE_SSE
+#cmakedefine01 FCL_HAVE_OCTOMAP
+#cmakedefine01 FCL_HAVE_FLANN
+#cmakedefine01 FCL_HAVE_TINYXML
+
+#endif // FCL_CONFIG_FCL_HH
+
diff --git a/include/fcl/knn/nearest_neighbors_flann.h b/include/fcl/knn/nearest_neighbors_flann.h
index c63ff4c8b904ef27e75596ab240752851051d1d1..328f9f990a294db1e5c5ed536e6e608e83856775 100644
--- a/include/fcl/knn/nearest_neighbors_flann.h
+++ b/include/fcl/knn/nearest_neighbors_flann.h
@@ -37,7 +37,7 @@
 #ifndef FCL_KNN_NEAREST_NEIGHBORS_FLANN_H
 #define FCL_KNN_NEAREST_NEIGHBORS_FLANN_H
 
-#include "fcl/config.h"
+#include <fcl/config-fcl.hh>
 #if FCL_HAVE_FLANN == 0
 # error FLANN is not available. Please use a different NearestNeighbors data structure
 #else
diff --git a/include/fcl/math/vec_3f.h b/include/fcl/math/vec_3f.h
index 04fca74e7189591fdebd2fe180cd150d22d01373..4c39e24158ac42ce1022dcb04297d0615b1ae7ee 100644
--- a/include/fcl/math/vec_3f.h
+++ b/include/fcl/math/vec_3f.h
@@ -38,7 +38,7 @@
 #ifndef FCL_VEC_3F_H
 #define FCL_VEC_3F_H
 
-#include "fcl/config.h"
+#include <fcl/config-fcl.hh>
 #include "fcl/data_types.h"
 #include "fcl/math/math_details.h"
 
diff --git a/include/fcl/traversal/traversal_node_setup.h b/include/fcl/traversal/traversal_node_setup.h
index 6e016296254cd92d0dec35138a9abc8f78093db4..26ce827cd4c61ef0eca98ac5374ea5da9275bb75 100644
--- a/include/fcl/traversal/traversal_node_setup.h
+++ b/include/fcl/traversal/traversal_node_setup.h
@@ -39,7 +39,7 @@
 #ifndef FCL_TRAVERSAL_NODE_SETUP_H
 #define FCL_TRAVERSAL_NODE_SETUP_H
 
-#include "fcl/config.h"
+#include <fcl/config-fcl.hh>
 #include "fcl/traversal/traversal_node_bvhs.h"
 #include "fcl/traversal/traversal_node_shapes.h"
 #include "fcl/traversal/traversal_node_bvh_shape.h"