diff --git a/CMakeLists.txt b/CMakeLists.txt
index 22ba1cd0e64f9e701b4055e42691680015d4acbc..f00c452cd5149064126d55aaec1d44728c24b9c8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,6 +42,9 @@ ENDIF()
 # Activate test using UR5 if requested
 SET (TEST_UR5 FALSE CACHE BOOL "Activate tests using ur5")
 
+# Ask Doxygen to create a tree view in html documentation
+SET(DOXYGEN_TREEVIEW "NO" CACHE STRING "Set to YES to generate a tree view in the html documentation")
+
 SEARCH_FOR_BOOST()
 ADD_DOC_DEPENDENCY("hpp-model >= 3.0.0")
 ADD_DOC_DEPENDENCY("hpp-fcl")
diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in
index c9813936aa8e3862512690e7b9cd83fe89e5cfcb..973b62174b919b7033e19890c5c38b64f3d87f8c 100644
--- a/doc/Doxyfile.extra.in
+++ b/doc/Doxyfile.extra.in
@@ -14,3 +14,5 @@ ALIASES   += Link{1}="\ref \1"
 ALIASES   += Link{2}="\ref \1 \"\2\""
 ALIASES   += LHPP{2}="\Link{hpp::\1::\2,\2}"
 ALIASES   += LModel{1}="\LHPP{model,\1}"
+
+GENERATE_TREEVIEW	 = @DOXYGEN_TREEVIEW@