diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0c47e4a1410654297cc048cbf9294bd5d5288154..0d281a56b706f3702b9dd723995fb62d5b57b0d1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -34,7 +34,6 @@
 
 cmake_minimum_required(VERSION 2.8)
 set(CXX_DISABLE_WERROR TRUE)
-set(CUSTOM_HEADER_DIR fcl)
 include(cmake/base.cmake)
 include(cmake/boost.cmake)
 
@@ -61,103 +60,103 @@ add_optional_dependency("octomap >= 1.6")
 # endif()
 
 SET(${PROJECT_NAME}_HEADERS
-  include/fcl/collision_data.h
-  include/fcl/profile.h
-  include/fcl/exception.h
-  include/fcl/ccd/taylor_vector.h
-  include/fcl/ccd/interval_vector.h
-  include/fcl/ccd/simplex.h
-  include/fcl/ccd/support.h
-  include/fcl/ccd/interval_matrix.h
-  include/fcl/ccd/interval.h
-  include/fcl/ccd/interpolation/interpolation_factory.h
-  include/fcl/ccd/interpolation/interpolation_linear.h
-  include/fcl/ccd/interpolation/interpolation.h
-  include/fcl/ccd/conservative_advancement.h
-  include/fcl/ccd/taylor_model.h
-  include/fcl/ccd/taylor_matrix.h
-  include/fcl/ccd/motion_base.h
-  include/fcl/ccd/motion.h
-  include/fcl/deprecated.h
-  include/fcl/BV/kIOS.h
-  include/fcl/BV/BV.h
-  include/fcl/BV/RSS.h
-  include/fcl/BV/OBBRSS.h
-  include/fcl/BV/BV_node.h
-  include/fcl/BV/AABB.h
-  include/fcl/BV/OBB.h
-  include/fcl/BV/kDOP.h
-  include/fcl/narrowphase/narrowphase.h
-  include/fcl/narrowphase/gjk.h
-  include/fcl/narrowphase/gjk_libccd.h
-  include/fcl/broadphase/interval_tree.h
-  include/fcl/broadphase/broadphase_spatialhash.h
-  include/fcl/broadphase/broadphase_dynamic_AABB_tree.h
-  include/fcl/broadphase/broadphase_SSaP.h
-  include/fcl/broadphase/broadphase_interval_tree.h
-  include/fcl/broadphase/broadphase.h
-  include/fcl/broadphase/hierarchy_tree.h
-  include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
-  include/fcl/broadphase/broadphase_SaP.h
-  include/fcl/broadphase/broadphase_bruteforce.h
-  include/fcl/broadphase/morton.h
-  include/fcl/broadphase/hash.h
-  include/fcl/learning/classifier.h
-  include/fcl/shape/geometric_shapes_utility.h
-  include/fcl/shape/geometric_shape_to_BVH_model.h
-  include/fcl/shape/geometric_shapes.h
-  include/fcl/simd/simd_intersect.h
-  include/fcl/simd/math_simd_details.h
-  include/fcl/distance_func_matrix.h
-  include/fcl/collision.h
-  include/fcl/collision_node.h
-  include/fcl/collision_func_matrix.h
-  include/fcl/distance.h
-  include/fcl/knn/greedy_kcenters.h
-  include/fcl/knn/nearest_neighbors_GNAT.h
-  include/fcl/knn/nearest_neighbors_flann.h
-  include/fcl/knn/nearest_neighbors_sqrtapprox.h
-  include/fcl/knn/nearest_neighbors_linear.h
-  include/fcl/knn/nearest_neighbors.h
-  include/fcl/continuous_collision.h
-  include/fcl/math/vec_nf.h
-  include/fcl/math/matrix_3f.h
-  include/fcl/math/vec_3f.h
-  include/fcl/math/sampling.h
-  include/fcl/math/math_details.h
-  include/fcl/math/transform.h
-  include/fcl/traversal/traversal_node_shapes.h
-  include/fcl/traversal/traversal_node_setup.h
-  include/fcl/traversal/traversal_recurse.h
-  include/fcl/traversal/traversal_node_octree.h
-  include/fcl/traversal/traversal_node_bvhs.h
-  include/fcl/traversal/traversal_node_bvh_shape.h
-  include/fcl/traversal/traversal_node_base.h
-  include/fcl/data_types.h
-  include/fcl/articulated_model/model.h
-  include/fcl/articulated_model/joint_config.h
-  include/fcl/articulated_model/model_config.h
-  include/fcl/articulated_model/joint.h
-  include/fcl/articulated_model/link.h
-  include/fcl/BVH/BV_splitter.h
-  include/fcl/BVH/BVH_internal.h
-  include/fcl/BVH/BVH_model.h
-  include/fcl/BVH/BV_fitter.h
-  include/fcl/BVH/BVH_front.h
-  include/fcl/BVH/BVH_utility.h
-  include/fcl/intersect.h
-  include/fcl/collision_object.h
-  include/fcl/octree.h
-  include/fcl/fwd.hh
+  include/hpp/fcl/collision_data.h
+  include/hpp/fcl/profile.h
+  include/hpp/fcl/exception.h
+  include/hpp/fcl/ccd/taylor_vector.h
+  include/hpp/fcl/ccd/interval_vector.h
+  include/hpp/fcl/ccd/simplex.h
+  include/hpp/fcl/ccd/support.h
+  include/hpp/fcl/ccd/interval_matrix.h
+  include/hpp/fcl/ccd/interval.h
+  include/hpp/fcl/ccd/interpolation/interpolation_factory.h
+  include/hpp/fcl/ccd/interpolation/interpolation_linear.h
+  include/hpp/fcl/ccd/interpolation/interpolation.h
+  include/hpp/fcl/ccd/conservative_advancement.h
+  include/hpp/fcl/ccd/taylor_model.h
+  include/hpp/fcl/ccd/taylor_matrix.h
+  include/hpp/fcl/ccd/motion_base.h
+  include/hpp/fcl/ccd/motion.h
+  include/hpp/fcl/deprecated.h
+  include/hpp/fcl/BV/kIOS.h
+  include/hpp/fcl/BV/BV.h
+  include/hpp/fcl/BV/RSS.h
+  include/hpp/fcl/BV/OBBRSS.h
+  include/hpp/fcl/BV/BV_node.h
+  include/hpp/fcl/BV/AABB.h
+  include/hpp/fcl/BV/OBB.h
+  include/hpp/fcl/BV/kDOP.h
+  include/hpp/fcl/narrowphase/narrowphase.h
+  include/hpp/fcl/narrowphase/gjk.h
+  include/hpp/fcl/narrowphase/gjk_libccd.h
+  include/hpp/fcl/broadphase/interval_tree.h
+  include/hpp/fcl/broadphase/broadphase_spatialhash.h
+  include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h
+  include/hpp/fcl/broadphase/broadphase_SSaP.h
+  include/hpp/fcl/broadphase/broadphase_interval_tree.h
+  include/hpp/fcl/broadphase/broadphase.h
+  include/hpp/fcl/broadphase/hierarchy_tree.h
+  include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
+  include/hpp/fcl/broadphase/broadphase_SaP.h
+  include/hpp/fcl/broadphase/broadphase_bruteforce.h
+  include/hpp/fcl/broadphase/morton.h
+  include/hpp/fcl/broadphase/hash.h
+  include/hpp/fcl/learning/classifier.h
+  include/hpp/fcl/shape/geometric_shapes_utility.h
+  include/hpp/fcl/shape/geometric_shape_to_BVH_model.h
+  include/hpp/fcl/shape/geometric_shapes.h
+  include/hpp/fcl/simd/simd_intersect.h
+  include/hpp/fcl/simd/math_simd_details.h
+  include/hpp/fcl/distance_func_matrix.h
+  include/hpp/fcl/collision.h
+  include/hpp/fcl/collision_node.h
+  include/hpp/fcl/collision_func_matrix.h
+  include/hpp/fcl/distance.h
+  include/hpp/fcl/knn/greedy_kcenters.h
+  include/hpp/fcl/knn/nearest_neighbors_GNAT.h
+  include/hpp/fcl/knn/nearest_neighbors_flann.h
+  include/hpp/fcl/knn/nearest_neighbors_sqrtapprox.h
+  include/hpp/fcl/knn/nearest_neighbors_linear.h
+  include/hpp/fcl/knn/nearest_neighbors.h
+  include/hpp/fcl/continuous_collision.h
+  include/hpp/fcl/math/vec_nf.h
+  include/hpp/fcl/math/matrix_3f.h
+  include/hpp/fcl/math/vec_3f.h
+  include/hpp/fcl/math/sampling.h
+  include/hpp/fcl/math/math_details.h
+  include/hpp/fcl/math/transform.h
+  include/hpp/fcl/traversal/traversal_node_shapes.h
+  include/hpp/fcl/traversal/traversal_node_setup.h
+  include/hpp/fcl/traversal/traversal_recurse.h
+  include/hpp/fcl/traversal/traversal_node_octree.h
+  include/hpp/fcl/traversal/traversal_node_bvhs.h
+  include/hpp/fcl/traversal/traversal_node_bvh_shape.h
+  include/hpp/fcl/traversal/traversal_node_base.h
+  include/hpp/fcl/data_types.h
+  include/hpp/fcl/articulated_model/model.h
+  include/hpp/fcl/articulated_model/joint_config.h
+  include/hpp/fcl/articulated_model/model_config.h
+  include/hpp/fcl/articulated_model/joint.h
+  include/hpp/fcl/articulated_model/link.h
+  include/hpp/fcl/BVH/BV_splitter.h
+  include/hpp/fcl/BVH/BVH_internal.h
+  include/hpp/fcl/BVH/BVH_model.h
+  include/hpp/fcl/BVH/BV_fitter.h
+  include/hpp/fcl/BVH/BVH_front.h
+  include/hpp/fcl/BVH/BVH_utility.h
+  include/hpp/fcl/intersect.h
+  include/hpp/fcl/collision_object.h
+  include/hpp/fcl/octree.h
+  include/hpp/fcl/fwd.hh
   )
 
 pkg_config_append_libs("hpp-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
+config_files(include/hpp/fcl/config-fcl.hh)
+install(FILES ${PROJECT_BINARY_DIR}/include/hpp/fcl/config-fcl.hh
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/hpp/fcl
   PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
   )
 setup_project_finalize()
diff --git a/include/fcl/BV/AABB.h b/include/hpp/fcl/BV/AABB.h
similarity index 99%
rename from include/fcl/BV/AABB.h
rename to include/hpp/fcl/BV/AABB.h
index ae379878769db4bc0a92a1f26f8b814d5227249f..1a2446503d1a71065a5f02e6aff416276e8b5bf3 100644
--- a/include/fcl/BV/AABB.h
+++ b/include/hpp/fcl/BV/AABB.h
@@ -39,7 +39,7 @@
 #define FCL_AABB_H
 
 #include <stdexcept>
-#include "fcl/math/vec_3f.h"
+#include <hpp/fcl/math/vec_3f.h>
 
 namespace fcl
 {
diff --git a/include/fcl/BV/BV.h b/include/hpp/fcl/BV/BV.h
similarity index 97%
rename from include/fcl/BV/BV.h
rename to include/hpp/fcl/BV/BV.h
index bee56f67afbdb453a25910d5fee7177556278a91..d81186404c36570e36e4f22314a8197d103da444 100644
--- a/include/fcl/BV/BV.h
+++ b/include/hpp/fcl/BV/BV.h
@@ -39,13 +39,13 @@
 #define FCL_BV_H
 
 
-#include "fcl/BV/kDOP.h"
-#include "fcl/BV/AABB.h"
-#include "fcl/BV/OBB.h"
-#include "fcl/BV/RSS.h"
-#include "fcl/BV/OBBRSS.h"
-#include "fcl/BV/kIOS.h"
-#include "fcl/math/transform.h"
+#include <hpp/fcl/BV/kDOP.h>
+#include <hpp/fcl/BV/AABB.h>
+#include <hpp/fcl/BV/OBB.h>
+#include <hpp/fcl/BV/RSS.h>
+#include <hpp/fcl/BV/OBBRSS.h>
+#include <hpp/fcl/BV/kIOS.h>
+#include <hpp/fcl/math/transform.h>
 
 /** \brief Main namespace */
 namespace fcl
diff --git a/include/fcl/BV/BV_node.h b/include/hpp/fcl/BV/BV_node.h
similarity index 98%
rename from include/fcl/BV/BV_node.h
rename to include/hpp/fcl/BV/BV_node.h
index fa2fa13a959f2b1bd659e2ddb86052e92d70ff24..9d2f5cff04f4cca126103826ae744895c4d922d8 100644
--- a/include/fcl/BV/BV_node.h
+++ b/include/hpp/fcl/BV/BV_node.h
@@ -39,10 +39,10 @@
 #ifndef FCL_BV_NODE_H
 #define FCL_BV_NODE_H
 
-#include "fcl/math/vec_3f.h"
-#include "fcl/math/matrix_3f.h"
+#include <hpp/fcl/math/vec_3f.h>
+#include <hpp/fcl/math/matrix_3f.h>
 
-#include "fcl/BV/BV.h"
+#include <hpp/fcl/BV/BV.h>
 #include <iostream>
 
 namespace fcl
diff --git a/include/fcl/BV/OBB.h b/include/hpp/fcl/BV/OBB.h
similarity index 98%
rename from include/fcl/BV/OBB.h
rename to include/hpp/fcl/BV/OBB.h
index ac035eda6175d8623f196a958644d009b2eeb57d..1dcd716065498d3933cd088c874ebc4a11cfd347 100644
--- a/include/fcl/BV/OBB.h
+++ b/include/hpp/fcl/BV/OBB.h
@@ -39,8 +39,8 @@
 #define FCL_OBB_H
 
 
-#include "fcl/math/vec_3f.h"
-#include "fcl/math/matrix_3f.h"
+#include <hpp/fcl/math/vec_3f.h>
+#include <hpp/fcl/math/matrix_3f.h>
 
 namespace fcl
 {
diff --git a/include/fcl/BV/OBBRSS.h b/include/hpp/fcl/BV/OBBRSS.h
similarity index 98%
rename from include/fcl/BV/OBBRSS.h
rename to include/hpp/fcl/BV/OBBRSS.h
index aaf172b0666f3f0b7cc9f8ca42a9673417039d4d..5b3b9532dce74a9b26a2de130ee589162ad8a2ea 100644
--- a/include/fcl/BV/OBBRSS.h
+++ b/include/hpp/fcl/BV/OBBRSS.h
@@ -39,8 +39,8 @@
 #define FCL_OBBRSS_H
 
 
-#include "fcl/BV/OBB.h"
-#include "fcl/BV/RSS.h"
+#include <hpp/fcl/BV/OBB.h>
+#include <hpp/fcl/BV/RSS.h>
 
 namespace fcl
 {
diff --git a/include/fcl/BV/RSS.h b/include/hpp/fcl/BV/RSS.h
similarity index 98%
rename from include/fcl/BV/RSS.h
rename to include/hpp/fcl/BV/RSS.h
index e25a546ad92ea5677982a0e5d21b3f7a9c154b56..4e42bab3c72de5986caecdef79699b11b8142189 100644
--- a/include/fcl/BV/RSS.h
+++ b/include/hpp/fcl/BV/RSS.h
@@ -39,8 +39,8 @@
 #define FCL_RSS_H
 
 #include <stdexcept>
-#include "fcl/math/vec_3f.h"
-#include "fcl/math/matrix_3f.h"
+#include <hpp/fcl/math/vec_3f.h>
+#include <hpp/fcl/math/matrix_3f.h>
 #include <boost/math/constants/constants.hpp>
 
 namespace fcl
diff --git a/include/fcl/BV/kDOP.h b/include/hpp/fcl/BV/kDOP.h
similarity index 99%
rename from include/fcl/BV/kDOP.h
rename to include/hpp/fcl/BV/kDOP.h
index d33f5a8ac56c3df7e5bb3aadb691ef363db19310..eb102f96ae6dd60830d4e671d0b88a4261b439ad 100644
--- a/include/fcl/BV/kDOP.h
+++ b/include/hpp/fcl/BV/kDOP.h
@@ -39,7 +39,7 @@
 #define FCL_KDOP_H
 
 #include <stdexcept>
-#include "fcl/math/vec_3f.h"
+#include <hpp/fcl/math/vec_3f.h>
 
 namespace fcl
 {
diff --git a/include/fcl/BV/kIOS.h b/include/hpp/fcl/BV/kIOS.h
similarity index 99%
rename from include/fcl/BV/kIOS.h
rename to include/hpp/fcl/BV/kIOS.h
index eab7c94059e49ca8df642c695cf35c8429bf29a7..8df8b9f1685ee1d96a4073714511bb9b921075d7 100644
--- a/include/fcl/BV/kIOS.h
+++ b/include/hpp/fcl/BV/kIOS.h
@@ -38,7 +38,7 @@
 #ifndef FCL_KIOS_H
 #define FCL_KIOS_H
 
-#include "fcl/BV/OBB.h"
+#include <hpp/fcl/BV/OBB.h>
 
 
 namespace fcl
diff --git a/include/fcl/BVH/BVH_front.h b/include/hpp/fcl/BVH/BVH_front.h
similarity index 100%
rename from include/fcl/BVH/BVH_front.h
rename to include/hpp/fcl/BVH/BVH_front.h
diff --git a/include/fcl/BVH/BVH_internal.h b/include/hpp/fcl/BVH/BVH_internal.h
similarity index 99%
rename from include/fcl/BVH/BVH_internal.h
rename to include/hpp/fcl/BVH/BVH_internal.h
index 397aef431bb3b438021fcd4a2ddce5256eb7fe2d..b7fd4147b9e37686e806393fc292d4f147369644 100644
--- a/include/fcl/BVH/BVH_internal.h
+++ b/include/hpp/fcl/BVH/BVH_internal.h
@@ -38,7 +38,7 @@
 #ifndef FCL_BVH_INTERNAL_H
 #define FCL_BVH_INTERNAL_H
 
-#include "fcl/data_types.h"
+#include <hpp/fcl/data_types.h>
 
 namespace fcl
 {
diff --git a/include/fcl/BVH/BVH_model.h b/include/hpp/fcl/BVH/BVH_model.h
similarity index 98%
rename from include/fcl/BVH/BVH_model.h
rename to include/hpp/fcl/BVH/BVH_model.h
index 69a30b3d1e8ba0cd5c79f44d90aa1b3be8310a7e..8db515ee2d5937ad93d414810c1a1fc4ff07afe8 100644
--- a/include/fcl/BVH/BVH_model.h
+++ b/include/hpp/fcl/BVH/BVH_model.h
@@ -38,11 +38,11 @@
 #ifndef FCL_BVH_MODEL_H
 #define FCL_BVH_MODEL_H
 
-#include "fcl/collision_object.h"
-#include "fcl/BVH/BVH_internal.h"
-#include "fcl/BV/BV_node.h"
-#include "fcl/BVH/BV_splitter.h"
-#include "fcl/BVH/BV_fitter.h"
+#include <hpp/fcl/collision_object.h>
+#include <hpp/fcl/BVH/BVH_internal.h>
+#include <hpp/fcl/BV/BV_node.h>
+#include <hpp/fcl/BVH/BV_splitter.h>
+#include <hpp/fcl/BVH/BV_fitter.h>
 #include <vector>
 #include <boost/shared_ptr.hpp>
 #include <boost/noncopyable.hpp>
diff --git a/include/fcl/BVH/BVH_utility.h b/include/hpp/fcl/BVH/BVH_utility.h
similarity index 99%
rename from include/fcl/BVH/BVH_utility.h
rename to include/hpp/fcl/BVH/BVH_utility.h
index 87c190deebc122fe2d3d834c2778ab0992383319..b5783ed785c06ccade80bec2fbc35acb09e6a302 100644
--- a/include/fcl/BVH/BVH_utility.h
+++ b/include/hpp/fcl/BVH/BVH_utility.h
@@ -39,7 +39,7 @@
 #ifndef FCL_BVH_UTILITY_H
 #define FCL_BVH_UTILITY_H
 
-#include "fcl/BVH/BVH_model.h"
+#include <hpp/fcl/BVH/BVH_model.h>
 
 
 namespace fcl
diff --git a/include/fcl/BVH/BV_fitter.h b/include/hpp/fcl/BVH/BV_fitter.h
similarity index 99%
rename from include/fcl/BVH/BV_fitter.h
rename to include/hpp/fcl/BVH/BV_fitter.h
index 2e7b40eb28d93c6d0acc116977d588e60a64bdda..38e1f81460acaf9c337dc96000f79721e8d4aeb9 100644
--- a/include/fcl/BVH/BV_fitter.h
+++ b/include/hpp/fcl/BVH/BV_fitter.h
@@ -38,9 +38,9 @@
 #ifndef FCL_BV_FITTER_H
 #define FCL_BV_FITTER_H
 
-#include "fcl/BVH/BVH_internal.h"
-#include "fcl/BV/kIOS.h"
-#include "fcl/BV/OBBRSS.h"
+#include <hpp/fcl/BVH/BVH_internal.h>
+#include <hpp/fcl/BV/kIOS.h>
+#include <hpp/fcl/BV/OBBRSS.h>
 #include <iostream>
 
 namespace fcl
diff --git a/include/fcl/BVH/BV_splitter.h b/include/hpp/fcl/BVH/BV_splitter.h
similarity index 98%
rename from include/fcl/BVH/BV_splitter.h
rename to include/hpp/fcl/BVH/BV_splitter.h
index 890f0af43fe82e5b7dc235d345c124299a3c2829..c10670fdbd0d45f74e826d321f4f72a8f72ba3b6 100644
--- a/include/fcl/BVH/BV_splitter.h
+++ b/include/hpp/fcl/BVH/BV_splitter.h
@@ -38,9 +38,9 @@
 #ifndef FCL_BV_SPLITTER_H
 #define FCL_BV_SPLITTER_H
 
-#include "fcl/BVH/BVH_internal.h"
-#include "fcl/BV/kIOS.h"
-#include "fcl/BV/OBBRSS.h"
+#include <hpp/fcl/BVH/BVH_internal.h>
+#include <hpp/fcl/BV/kIOS.h>
+#include <hpp/fcl/BV/OBBRSS.h>
 #include <vector>
 #include <iostream>
 
diff --git a/include/fcl/CMakeLists.txt b/include/hpp/fcl/CMakeLists.txt
similarity index 100%
rename from include/fcl/CMakeLists.txt
rename to include/hpp/fcl/CMakeLists.txt
diff --git a/include/fcl/articulated_model/joint.h b/include/hpp/fcl/articulated_model/joint.h
similarity index 98%
rename from include/fcl/articulated_model/joint.h
rename to include/hpp/fcl/articulated_model/joint.h
index 1fa05346513f1db2516e6af885cdf5ba49e147ce..7c5b36ad1801683448980c898aec0b025e05c54f 100644
--- a/include/fcl/articulated_model/joint.h
+++ b/include/hpp/fcl/articulated_model/joint.h
@@ -38,8 +38,8 @@
 #ifndef FCL_ARTICULATED_MODEL_JOINT_H
 #define FCL_ARTICULATED_MODEL_JOINT_H
 
-#include "fcl/math/transform.h"
-#include "fcl/data_types.h"
+#include <hpp/fcl/math/transform.h>
+#include <hpp/fcl/data_types.h>
 
 #include <string>
 #include <vector>
diff --git a/include/fcl/articulated_model/joint_config.h b/include/hpp/fcl/articulated_model/joint_config.h
similarity index 98%
rename from include/fcl/articulated_model/joint_config.h
rename to include/hpp/fcl/articulated_model/joint_config.h
index f87533d680833973d0f60a36d3ee805f1a09c6f2..bd5ddf18c73b497291f2ea5457a582de5bde8714 100644
--- a/include/fcl/articulated_model/joint_config.h
+++ b/include/hpp/fcl/articulated_model/joint_config.h
@@ -38,7 +38,7 @@
 #ifndef FCL_ARTICULATED_MODEL_JOINT_CONFIG_H
 #define FCL_ARTICULATED_MODEL_JOINT_CONFIG_H
 
-#include "fcl/data_types.h"
+#include <hpp/fcl/data_types.h>
 #include <boost/shared_ptr.hpp>
 #include <boost/weak_ptr.hpp>
 #include <vector>
diff --git a/include/fcl/articulated_model/link.h b/include/hpp/fcl/articulated_model/link.h
similarity index 97%
rename from include/fcl/articulated_model/link.h
rename to include/hpp/fcl/articulated_model/link.h
index 1df1c4cb5d758866afac7ef839f64dbb7f91fb30..41c7c48a80faa8ee6559f44bb34174bc9f210c98 100644
--- a/include/fcl/articulated_model/link.h
+++ b/include/hpp/fcl/articulated_model/link.h
@@ -38,8 +38,8 @@
 #ifndef FCL_ARTICULATED_MODEL_LINK_H
 #define FCL_ARTICULATED_MODEL_LINK_H
 
-#include "fcl/data_types.h"
-#include "fcl/collision_object.h"
+#include <hpp/fcl/data_types.h>
+#include <hpp/fcl/collision_object.h>
 
 #include <boost/shared_ptr.hpp>
 #include <vector>
diff --git a/include/fcl/articulated_model/model.h b/include/hpp/fcl/articulated_model/model.h
similarity index 96%
rename from include/fcl/articulated_model/model.h
rename to include/hpp/fcl/articulated_model/model.h
index bc95504cb2283d86815e9544c618d68c65bae3aa..c235984955a90b020676ee0e5589ad31b99a65f0 100644
--- a/include/fcl/articulated_model/model.h
+++ b/include/hpp/fcl/articulated_model/model.h
@@ -38,10 +38,10 @@
 #ifndef FCL_ARTICULATED_MODEL_MODEL_H
 #define FCL_ARTICULATED_MODEL_MODEL_H
 
-#include "fcl/articulated_model/joint.h"
-#include "fcl/articulated_model/link.h"
+#include <hpp/fcl/articulated_model/joint.h>
+#include <hpp/fcl/articulated_model/link.h>
 
-#include "fcl/data_types.h"
+#include <hpp/fcl/data_types.h>
 #include <boost/shared_ptr.hpp>
 
 #include <map>
diff --git a/include/fcl/articulated_model/model_config.h b/include/hpp/fcl/articulated_model/model_config.h
similarity index 96%
rename from include/fcl/articulated_model/model_config.h
rename to include/hpp/fcl/articulated_model/model_config.h
index 49e8a6405c7cde3bcf5e4ca06917f147554fdc40..a0699ca2751bb96f94fdb5a20d83c239c7d68351 100644
--- a/include/fcl/articulated_model/model_config.h
+++ b/include/hpp/fcl/articulated_model/model_config.h
@@ -38,8 +38,8 @@
 #ifndef FCL_ARTICULATED_MODEL_MODEL_CONFIG_H
 #define FCL_ARTICULATED_MODEL_MODEL_CONFIG_H
 
-#include "fcl/data_types.h"
-#include "fcl/articulated_model/joint_config.h"
+#include <hpp/fcl/data_types.h>
+#include <hpp/fcl/articulated_model/joint_config.h>
 #include <string>
 #include <map>
 #include <boost/weak_ptr.hpp>
diff --git a/include/fcl/broadphase/broadphase.h b/include/hpp/fcl/broadphase/broadphase.h
similarity index 95%
rename from include/fcl/broadphase/broadphase.h
rename to include/hpp/fcl/broadphase/broadphase.h
index ded5e11d4854c702884b5a1b29ae32aa6ad5561d..04311be5d15f86fe380fdb29e8ccc7890812265b 100644
--- a/include/fcl/broadphase/broadphase.h
+++ b/include/hpp/fcl/broadphase/broadphase.h
@@ -40,7 +40,7 @@
 #ifndef FCL_BROAD_PHASE_H
 #define FCL_BROAD_PHASE_H
 
-#include "fcl/collision_object.h"
+#include <hpp/fcl/collision_object.h>
 #include <set>
 #include <vector>
 
@@ -230,12 +230,12 @@ public:
 }
 
 
-#include "fcl/broadphase/broadphase_bruteforce.h"
-#include "fcl/broadphase/broadphase_spatialhash.h"
-#include "fcl/broadphase/broadphase_SaP.h"
-#include "fcl/broadphase/broadphase_SSaP.h"
-#include "fcl/broadphase/broadphase_interval_tree.h"
-#include "fcl/broadphase/broadphase_dynamic_AABB_tree.h"
-#include "fcl/broadphase/broadphase_dynamic_AABB_tree_array.h"
+#include <hpp/fcl/broadphase/broadphase_bruteforce.h>
+#include <hpp/fcl/broadphase/broadphase_spatialhash.h>
+#include <hpp/fcl/broadphase/broadphase_SaP.h>
+#include <hpp/fcl/broadphase/broadphase_SSaP.h>
+#include <hpp/fcl/broadphase/broadphase_interval_tree.h>
+#include <hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h>
+#include <hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h>
 
 #endif
diff --git a/include/fcl/broadphase/broadphase_SSaP.h b/include/hpp/fcl/broadphase/broadphase_SSaP.h
similarity index 99%
rename from include/fcl/broadphase/broadphase_SSaP.h
rename to include/hpp/fcl/broadphase/broadphase_SSaP.h
index be3cc46acac17000d9db7266e34d1e176f6c41e6..28e7107bd03f2e59b1fc5558763e2a990644f046 100644
--- a/include/fcl/broadphase/broadphase_SSaP.h
+++ b/include/hpp/fcl/broadphase/broadphase_SSaP.h
@@ -39,7 +39,7 @@
 #ifndef FCL_BROAD_PHASE_SSAP_H
 #define FCL_BROAD_PHASE_SSAP_H
 
-#include "fcl/broadphase/broadphase.h"
+#include <hpp/fcl/broadphase/broadphase.h>
 
 namespace fcl
 {
diff --git a/include/fcl/broadphase/broadphase_SaP.h b/include/hpp/fcl/broadphase/broadphase_SaP.h
similarity index 99%
rename from include/fcl/broadphase/broadphase_SaP.h
rename to include/hpp/fcl/broadphase/broadphase_SaP.h
index 62404b3d2158859c64a6461d9b1565b1ea02584f..21b07bb6618a70cb2f7377e829af6507a86ecdf4 100644
--- a/include/fcl/broadphase/broadphase_SaP.h
+++ b/include/hpp/fcl/broadphase/broadphase_SaP.h
@@ -38,7 +38,7 @@
 #ifndef FCL_BROAD_PHASE_SAP_H
 #define FCL_BROAD_PHASE_SAP_H
 
-#include "fcl/broadphase/broadphase.h"
+#include <hpp/fcl/broadphase/broadphase.h>
 
 #include <map>
 #include <list>
diff --git a/include/fcl/broadphase/broadphase_bruteforce.h b/include/hpp/fcl/broadphase/broadphase_bruteforce.h
similarity index 98%
rename from include/fcl/broadphase/broadphase_bruteforce.h
rename to include/hpp/fcl/broadphase/broadphase_bruteforce.h
index 12ebba83b0a16a27182615b74a159eddd869e804..6e712107de72bdbaab0655109ec992a103a65fcc 100644
--- a/include/fcl/broadphase/broadphase_bruteforce.h
+++ b/include/hpp/fcl/broadphase/broadphase_bruteforce.h
@@ -38,7 +38,7 @@
 #ifndef FCL_BROAD_PHASE_BRUTE_FORCE_H
 #define FCL_BROAD_PHASE_BRUTE_FORCE_H
 
-#include "fcl/broadphase/broadphase.h"
+#include <hpp/fcl/broadphase/broadphase.h>
 #include <list>
 
 
diff --git a/include/fcl/broadphase/broadphase_dynamic_AABB_tree.h b/include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h
similarity index 97%
rename from include/fcl/broadphase/broadphase_dynamic_AABB_tree.h
rename to include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h
index 1b8ea89684eaeab5db6001d9ed2385512a386259..bd6a6063a00d25a796f73ccb8d3e2cfcf98228f3 100644
--- a/include/fcl/broadphase/broadphase_dynamic_AABB_tree.h
+++ b/include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h
@@ -39,10 +39,10 @@
 #ifndef FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
 #define FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_H
 
-#include "fcl/broadphase/broadphase.h"
-#include "fcl/broadphase/hierarchy_tree.h"
-#include "fcl/BV/BV.h"
-#include "fcl/shape/geometric_shapes_utility.h"
+#include <hpp/fcl/broadphase/broadphase.h>
+#include <hpp/fcl/broadphase/hierarchy_tree.h>
+#include <hpp/fcl/BV/BV.h>
+#include <hpp/fcl/shape/geometric_shapes_utility.h>
 #include <boost/unordered_map.hpp>
 #include <boost/bind.hpp>
 #include <limits>
diff --git a/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h b/include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
similarity index 97%
rename from include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
rename to include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
index 3c132e0923eb89e59df6030a7c6e0331c18743a0..731010dd2573aa0088482d0cacb945bf3eeb6231 100644
--- a/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
+++ b/include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
@@ -38,10 +38,10 @@
 #ifndef FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
 #define FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
 
-#include "fcl/broadphase/broadphase.h"
-#include "fcl/broadphase/hierarchy_tree.h"
-#include "fcl/BV/BV.h"
-#include "fcl/shape/geometric_shapes_utility.h"
+#include <hpp/fcl/broadphase/broadphase.h>
+#include <hpp/fcl/broadphase/hierarchy_tree.h>
+#include <hpp/fcl/BV/BV.h>
+#include <hpp/fcl/shape/geometric_shapes_utility.h>
 #include <boost/unordered_map.hpp>
 #include <boost/bind.hpp>
 #include <limits>
diff --git a/include/fcl/broadphase/broadphase_interval_tree.h b/include/hpp/fcl/broadphase/broadphase_interval_tree.h
similarity index 98%
rename from include/fcl/broadphase/broadphase_interval_tree.h
rename to include/hpp/fcl/broadphase/broadphase_interval_tree.h
index eb9c7cd5bb9fe5449d157e7c547584bf97d2de0a..53c105ef2fd6e3c36e1cff96899f2691f567a52a 100644
--- a/include/fcl/broadphase/broadphase_interval_tree.h
+++ b/include/hpp/fcl/broadphase/broadphase_interval_tree.h
@@ -38,8 +38,8 @@
 #ifndef FCL_BROAD_PHASE_INTERVAL_TREE_H
 #define FCL_BROAD_PHASE_INTERVAL_TREE_H
 
-#include "fcl/broadphase/broadphase.h"
-#include "fcl/broadphase/interval_tree.h"
+#include <hpp/fcl/broadphase/broadphase.h>
+#include <hpp/fcl/broadphase/interval_tree.h>
 #include <deque>
 #include <map>
 
diff --git a/include/fcl/broadphase/broadphase_spatialhash.h b/include/hpp/fcl/broadphase/broadphase_spatialhash.h
similarity index 97%
rename from include/fcl/broadphase/broadphase_spatialhash.h
rename to include/hpp/fcl/broadphase/broadphase_spatialhash.h
index 21de859d639a85a230285ac9933d2b669d495e9c..fbcded166e2ba3bd5baea177b59f8fd016be8741 100644
--- a/include/fcl/broadphase/broadphase_spatialhash.h
+++ b/include/hpp/fcl/broadphase/broadphase_spatialhash.h
@@ -38,9 +38,9 @@
 #ifndef FCL_BROAD_PHASE_SPATIAL_HASH_H
 #define FCL_BROAD_PHASE_SPATIAL_HASH_H
 
-#include "fcl/broadphase/broadphase.h"
-#include "fcl/broadphase/hash.h"
-#include "fcl/BV/AABB.h"
+#include <hpp/fcl/broadphase/broadphase.h>
+#include <hpp/fcl/broadphase/hash.h>
+#include <hpp/fcl/BV/AABB.h>
 #include <list>
 #include <map>
 
@@ -193,7 +193,7 @@ protected:
 
 }
 
-#include "fcl/broadphase/broadphase_spatialhash.hxx"
+#include <hpp/fcl/broadphase/broadphase_spatialhash.hxx>
 
 
 #endif
diff --git a/include/fcl/broadphase/broadphase_spatialhash.hxx b/include/hpp/fcl/broadphase/broadphase_spatialhash.hxx
similarity index 100%
rename from include/fcl/broadphase/broadphase_spatialhash.hxx
rename to include/hpp/fcl/broadphase/broadphase_spatialhash.hxx
diff --git a/include/fcl/broadphase/hash.h b/include/hpp/fcl/broadphase/hash.h
similarity index 100%
rename from include/fcl/broadphase/hash.h
rename to include/hpp/fcl/broadphase/hash.h
diff --git a/include/fcl/broadphase/hierarchy_tree.h b/include/hpp/fcl/broadphase/hierarchy_tree.h
similarity index 99%
rename from include/fcl/broadphase/hierarchy_tree.h
rename to include/hpp/fcl/broadphase/hierarchy_tree.h
index ed055ff76d6bdc079bde7f33e1a01dd145eea94c..347e90a37c4c18f02bc73a7f1d24a342e9dccf08 100644
--- a/include/fcl/broadphase/hierarchy_tree.h
+++ b/include/hpp/fcl/broadphase/hierarchy_tree.h
@@ -40,8 +40,8 @@
 
 #include <vector>
 #include <map>
-#include "fcl/BV/AABB.h"
-#include "fcl/broadphase/morton.h"
+#include <hpp/fcl/BV/AABB.h>
+#include <hpp/fcl/broadphase/morton.h>
 #include <boost/bind.hpp>
 #include <boost/iterator/zip_iterator.hpp>
 
@@ -587,7 +587,7 @@ const size_t HierarchyTree<BV>::NULL_NODE;
 }
 
 
-#include "fcl/broadphase/hierarchy_tree.hxx"
+#include <hpp/fcl/broadphase/hierarchy_tree.hxx>
 
 
 #endif
diff --git a/include/fcl/broadphase/hierarchy_tree.hxx b/include/hpp/fcl/broadphase/hierarchy_tree.hxx
similarity index 100%
rename from include/fcl/broadphase/hierarchy_tree.hxx
rename to include/hpp/fcl/broadphase/hierarchy_tree.hxx
diff --git a/include/fcl/broadphase/interval_tree.h b/include/hpp/fcl/broadphase/interval_tree.h
similarity index 100%
rename from include/fcl/broadphase/interval_tree.h
rename to include/hpp/fcl/broadphase/interval_tree.h
diff --git a/include/fcl/broadphase/morton.h b/include/hpp/fcl/broadphase/morton.h
similarity index 99%
rename from include/fcl/broadphase/morton.h
rename to include/hpp/fcl/broadphase/morton.h
index 11b91ec679614b3ca22cf9d9a7d9bcbf82ee5ae6..f599a7cc53596598181f467fd7ed1bee9f16e3de 100644
--- a/include/fcl/broadphase/morton.h
+++ b/include/hpp/fcl/broadphase/morton.h
@@ -39,8 +39,8 @@
 #define FCL_MORTON_H
 
 #include <boost/dynamic_bitset.hpp>
-#include "fcl/data_types.h"
-#include "fcl/BV/AABB.h"
+#include <hpp/fcl/data_types.h>
+#include <hpp/fcl/BV/AABB.h>
 
 namespace fcl
 {
diff --git a/include/fcl/ccd/conservative_advancement.h b/include/hpp/fcl/ccd/conservative_advancement.h
similarity index 95%
rename from include/fcl/ccd/conservative_advancement.h
rename to include/hpp/fcl/ccd/conservative_advancement.h
index b94f6c106d5a44059fdfe3701493cc6a89085261..9c0a993faf0d98c18b40957f766135fa6939f671 100644
--- a/include/fcl/ccd/conservative_advancement.h
+++ b/include/hpp/fcl/ccd/conservative_advancement.h
@@ -39,9 +39,9 @@
 #define FCL_CONSERVATIVE_ADVANCEMENT_H
 
 
-#include "fcl/collision_object.h"
-#include "fcl/collision_data.h"
-#include "fcl/ccd/motion_base.h"
+#include <hpp/fcl/collision_object.h>
+#include <hpp/fcl/collision_data.h>
+#include <hpp/fcl/ccd/motion_base.h>
 
 
 namespace fcl
diff --git a/include/fcl/ccd/interpolation/interpolation.h b/include/hpp/fcl/ccd/interpolation/interpolation.h
similarity index 98%
rename from include/fcl/ccd/interpolation/interpolation.h
rename to include/hpp/fcl/ccd/interpolation/interpolation.h
index 4e84a7c63319d2337cba094f06435b66ea89a2ba..07d8be7149aaba41b658e4a67bd9dbc28ab6a476 100644
--- a/include/fcl/ccd/interpolation/interpolation.h
+++ b/include/hpp/fcl/ccd/interpolation/interpolation.h
@@ -38,7 +38,7 @@
 #ifndef FCL_CCD_INTERPOLATION_INTERPOLATION_H
 #define FCL_CCD_INTERPOLATION_INTERPOLATION_H
 
-#include "fcl/data_types.h"
+#include <hpp/fcl/data_types.h>
 
 namespace fcl
 {
diff --git a/include/fcl/ccd/interpolation/interpolation_factory.h b/include/hpp/fcl/ccd/interpolation/interpolation_factory.h
similarity index 96%
rename from include/fcl/ccd/interpolation/interpolation_factory.h
rename to include/hpp/fcl/ccd/interpolation/interpolation_factory.h
index c8b3ec5526d7f839694a120693b42ce2965727f6..c8aa08850c75e8294833405042275d1cd42a3229 100644
--- a/include/fcl/ccd/interpolation/interpolation_factory.h
+++ b/include/hpp/fcl/ccd/interpolation/interpolation_factory.h
@@ -38,8 +38,8 @@
 #ifndef FCL_CCD_INTERPOLATION_INTERPOLATION_FACTORY_H
 #define FCL_CCD_INTERPOLATION_INTERPOLATION_FACTORY_H
 
-#include "fcl/data_types.h"
-#include "fcl/ccd/interpolation/interpolation.h"
+#include <hpp/fcl/data_types.h>
+#include <hpp/fcl/ccd/interpolation/interpolation.h>
 
 #include <map>
 
diff --git a/include/fcl/ccd/interpolation/interpolation_linear.h b/include/hpp/fcl/ccd/interpolation/interpolation_linear.h
similarity index 96%
rename from include/fcl/ccd/interpolation/interpolation_linear.h
rename to include/hpp/fcl/ccd/interpolation/interpolation_linear.h
index ecef37344285d96a25d6911176d70e8a0af09c51..cc50ee67da1211eb4b86fe78e7f849be2e2360fd 100644
--- a/include/fcl/ccd/interpolation/interpolation_linear.h
+++ b/include/hpp/fcl/ccd/interpolation/interpolation_linear.h
@@ -38,8 +38,8 @@
 #ifndef FCL_CCD_INTERPOLATION_INTERPOLATION_LINEAR_H
 #define FCL_CCD_INTERPOLATION_INTERPOLATION_LINEAR_H
 
-#include "fcl/data_types.h"
-#include "fcl/ccd/interpolation/interpolation.h"
+#include <hpp/fcl/data_types.h>
+#include <hpp/fcl/ccd/interpolation/interpolation.h>
 
 #include <boost/shared_ptr.hpp>
 
diff --git a/include/fcl/ccd/interval.h b/include/hpp/fcl/ccd/interval.h
similarity index 99%
rename from include/fcl/ccd/interval.h
rename to include/hpp/fcl/ccd/interval.h
index 5afa5b4c17f65f76c98b5273e8f3ca09e4141673..6ea96df7b764385b1ea57877e11d1e5d45d8c66a 100644
--- a/include/fcl/ccd/interval.h
+++ b/include/hpp/fcl/ccd/interval.h
@@ -40,7 +40,7 @@
 #ifndef FCL_CCD_INTERVAL_H
 #define FCL_CCD_INTERVAL_H
 
-#include "fcl/data_types.h"
+#include <hpp/fcl/data_types.h>
 
 namespace fcl
 {
diff --git a/include/fcl/ccd/interval_matrix.h b/include/hpp/fcl/ccd/interval_matrix.h
similarity index 96%
rename from include/fcl/ccd/interval_matrix.h
rename to include/hpp/fcl/ccd/interval_matrix.h
index 6084812a0d48834c9b50dc8e9cf92a5ebbc6cce9..f828387a26804588a37d5497dd02a3cac2071ea8 100644
--- a/include/fcl/ccd/interval_matrix.h
+++ b/include/hpp/fcl/ccd/interval_matrix.h
@@ -39,9 +39,9 @@
 #ifndef FCL_CCD_INTERVAL_MATRIX_H
 #define FCL_CCD_INTERVAL_MATRIX_H
 
-#include "fcl/ccd/interval.h"
-#include "fcl/ccd/interval_vector.h"
-#include "fcl/math/matrix_3f.h"
+#include <hpp/fcl/ccd/interval.h>
+#include <hpp/fcl/ccd/interval_vector.h>
+#include <hpp/fcl/math/matrix_3f.h>
 
 namespace fcl
 {
diff --git a/include/fcl/ccd/interval_vector.h b/include/hpp/fcl/ccd/interval_vector.h
similarity index 98%
rename from include/fcl/ccd/interval_vector.h
rename to include/hpp/fcl/ccd/interval_vector.h
index 745480a832b55e893b75252223068ef850719127..f5b71b640294b07ebceeea425c172aac70e4cdd1 100644
--- a/include/fcl/ccd/interval_vector.h
+++ b/include/hpp/fcl/ccd/interval_vector.h
@@ -39,8 +39,8 @@
 #ifndef FCL_CCD_INTERVAL_VECTOR_H
 #define FCL_CCD_INTERVAL_VECTOR_H
 
-#include "fcl/ccd/interval.h"
-#include "fcl/math/vec_3f.h"
+#include <hpp/fcl/ccd/interval.h>
+#include <hpp/fcl/math/vec_3f.h>
 
 namespace fcl
 {
diff --git a/include/fcl/ccd/motion.h b/include/hpp/fcl/ccd/motion.h
similarity index 99%
rename from include/fcl/ccd/motion.h
rename to include/hpp/fcl/ccd/motion.h
index b640d6cff6abdb90e538705295d216866be00240..c54d3398fdc8b7153661caa2d97720166f5f4124 100644
--- a/include/fcl/ccd/motion.h
+++ b/include/hpp/fcl/ccd/motion.h
@@ -39,8 +39,8 @@
 #ifndef FCL_CCD_MOTION_H
 #define FCL_CCD_MOTION_H
 
-#include "fcl/ccd/motion_base.h"
-#include "fcl/intersect.h"
+#include <hpp/fcl/ccd/motion_base.h>
+#include <hpp/fcl/intersect.h>
 #include <iostream>
 #include <vector>
 
diff --git a/include/fcl/ccd/motion_base.h b/include/hpp/fcl/ccd/motion_base.h
similarity index 97%
rename from include/fcl/ccd/motion_base.h
rename to include/hpp/fcl/ccd/motion_base.h
index b675a3bd0aa59d4c630ebbeb70ce27dfd441af53..500888e6af1eb422f6e9d05dc551e89b62fc64a7 100644
--- a/include/fcl/ccd/motion_base.h
+++ b/include/hpp/fcl/ccd/motion_base.h
@@ -40,10 +40,10 @@
 #define FCL_CCD_MOTION_BASE_H
 
 
-#include "fcl/math/transform.h"
-#include "fcl/ccd/taylor_matrix.h"
-#include "fcl/ccd/taylor_vector.h"
-#include "fcl/BV/RSS.h"
+#include <hpp/fcl/math/transform.h>
+#include <hpp/fcl/ccd/taylor_matrix.h>
+#include <hpp/fcl/ccd/taylor_vector.h>
+#include <hpp/fcl/BV/RSS.h>
 
 namespace fcl
 {
diff --git a/include/fcl/ccd/simplex.h b/include/hpp/fcl/ccd/simplex.h
similarity index 100%
rename from include/fcl/ccd/simplex.h
rename to include/hpp/fcl/ccd/simplex.h
diff --git a/include/fcl/ccd/support.h b/include/hpp/fcl/ccd/support.h
similarity index 100%
rename from include/fcl/ccd/support.h
rename to include/hpp/fcl/ccd/support.h
diff --git a/include/fcl/ccd/taylor_matrix.h b/include/hpp/fcl/ccd/taylor_matrix.h
similarity index 97%
rename from include/fcl/ccd/taylor_matrix.h
rename to include/hpp/fcl/ccd/taylor_matrix.h
index a27435b791a7157edb1499bdeba00bef34a0f535..18819387fd9629bbcc3825392369a3a2292ed552 100644
--- a/include/fcl/ccd/taylor_matrix.h
+++ b/include/hpp/fcl/ccd/taylor_matrix.h
@@ -39,9 +39,9 @@
 #define FCL_CCD_TAYLOR_MATRIX_H
 
 
-#include "fcl/math/matrix_3f.h"
-#include "fcl/ccd/taylor_vector.h"
-#include "fcl/ccd/interval_matrix.h"
+#include <hpp/fcl/math/matrix_3f.h>
+#include <hpp/fcl/ccd/taylor_vector.h>
+#include <hpp/fcl/ccd/interval_matrix.h>
 
 namespace fcl
 {
diff --git a/include/fcl/ccd/taylor_model.h b/include/hpp/fcl/ccd/taylor_model.h
similarity index 99%
rename from include/fcl/ccd/taylor_model.h
rename to include/hpp/fcl/ccd/taylor_model.h
index b53b0140698efd1017c860382220ae2e7ea490d7..418de73f2cc4b0c991bbf72b6c5b68251502ef54 100644
--- a/include/fcl/ccd/taylor_model.h
+++ b/include/hpp/fcl/ccd/taylor_model.h
@@ -38,7 +38,7 @@
 #ifndef FCL_CCD_TAYLOR_MODEL_H
 #define FCL_CCD_TAYLOR_MODEL_H
 
-#include "fcl/ccd/interval.h"
+#include <hpp/fcl/ccd/interval.h>
 #include <boost/shared_ptr.hpp>
 
 namespace fcl
diff --git a/include/fcl/ccd/taylor_vector.h b/include/hpp/fcl/ccd/taylor_vector.h
similarity index 98%
rename from include/fcl/ccd/taylor_vector.h
rename to include/hpp/fcl/ccd/taylor_vector.h
index 52a68db2b77f1ecf547ca3e2589e91dd6f786625..a17c262ab06104746a6905e60a282ea142d41003 100644
--- a/include/fcl/ccd/taylor_vector.h
+++ b/include/hpp/fcl/ccd/taylor_vector.h
@@ -38,8 +38,8 @@
 #ifndef FCL_CCD_TAYLOR_VECTOR_H
 #define FCL_CCD_TAYLOR_VECTOR_H
 
-#include "fcl/ccd/interval_vector.h"
-#include "fcl/ccd/taylor_model.h"
+#include <hpp/fcl/ccd/interval_vector.h>
+#include <hpp/fcl/ccd/taylor_model.h>
 
 namespace fcl
 {
diff --git a/include/fcl/collision.h b/include/hpp/fcl/collision.h
similarity index 96%
rename from include/fcl/collision.h
rename to include/hpp/fcl/collision.h
index e8a1237c2213ae798ef30f51d05e660e07e2b01c..b69ef3b5703e06e6284881f15365b41f11a7cc5c 100644
--- a/include/fcl/collision.h
+++ b/include/hpp/fcl/collision.h
@@ -39,9 +39,9 @@
 #ifndef FCL_COLLISION_H
 #define FCL_COLLISION_H
 
-#include "fcl/math/vec_3f.h"
-#include "fcl/collision_object.h"
-#include "fcl/collision_data.h"
+#include <hpp/fcl/math/vec_3f.h>
+#include <hpp/fcl/collision_object.h>
+#include <hpp/fcl/collision_data.h>
 
 namespace fcl
 {
diff --git a/include/fcl/collision_data.h b/include/hpp/fcl/collision_data.h
similarity index 99%
rename from include/fcl/collision_data.h
rename to include/hpp/fcl/collision_data.h
index dcfe25f60915b5b9cfcbb33970b7014fac860257..be3c4e6a7ae1c6b4dcc69ee5e2fb4588052450ba 100644
--- a/include/fcl/collision_data.h
+++ b/include/hpp/fcl/collision_data.h
@@ -39,12 +39,12 @@
 #ifndef FCL_COLLISION_DATA_H
 #define FCL_COLLISION_DATA_H
 
-#include "fcl/collision_object.h"
-#include "fcl/learning/classifier.h"
-#include "fcl/knn/nearest_neighbors.h"
+#include <hpp/fcl/collision_object.h>
+#include <hpp/fcl/learning/classifier.h>
+#include <hpp/fcl/knn/nearest_neighbors.h>
 
 
-#include "fcl/math/vec_3f.h"
+#include <hpp/fcl/math/vec_3f.h>
 #include <vector>
 #include <set>
 #include <limits>
diff --git a/include/fcl/collision_func_matrix.h b/include/hpp/fcl/collision_func_matrix.h
similarity index 97%
rename from include/fcl/collision_func_matrix.h
rename to include/hpp/fcl/collision_func_matrix.h
index edbbc94181b4493abce0252f0135f99b953d72ea..9cbaa8f2ec192eef830bac0401cddedad136ac60 100644
--- a/include/fcl/collision_func_matrix.h
+++ b/include/hpp/fcl/collision_func_matrix.h
@@ -40,8 +40,8 @@
 #define FCL_COLLISION_FUNC_MATRIX_H
 
 
-#include "fcl/collision_object.h"
-#include "fcl/collision_data.h"
+#include <hpp/fcl/collision_object.h>
+#include <hpp/fcl/collision_data.h>
 
 namespace fcl
 {
diff --git a/include/fcl/collision_node.h b/include/hpp/fcl/collision_node.h
similarity index 95%
rename from include/fcl/collision_node.h
rename to include/hpp/fcl/collision_node.h
index bc52dbb9a22ebae81b2f62e597ef5637e68ee607..dddfa7f7bd5d50d36d479343ee5f5033d1229acb 100644
--- a/include/fcl/collision_node.h
+++ b/include/hpp/fcl/collision_node.h
@@ -39,9 +39,9 @@
 #ifndef FCL_COLLISION_NODE_H
 #define FCL_COLLISION_NODE_H
 
-#include "fcl/traversal/traversal_node_base.h"
-#include "fcl/traversal/traversal_node_bvhs.h"
-#include "fcl/BVH/BVH_front.h"
+#include <hpp/fcl/traversal/traversal_node_base.h>
+#include <hpp/fcl/traversal/traversal_node_bvhs.h>
+#include <hpp/fcl/BVH/BVH_front.h>
 
 
 
diff --git a/include/fcl/collision_object.h b/include/hpp/fcl/collision_object.h
similarity index 98%
rename from include/fcl/collision_object.h
rename to include/hpp/fcl/collision_object.h
index 7fb13fbc46af7eb1614c5fc05f4b3c53785450a7..fb140008088f4aae81f26cb2760311478dc4ce8e 100644
--- a/include/fcl/collision_object.h
+++ b/include/hpp/fcl/collision_object.h
@@ -39,10 +39,10 @@
 #ifndef FCL_COLLISION_OBJECT_BASE_H
 #define FCL_COLLISION_OBJECT_BASE_H
 
-#include <fcl/deprecated.h>
-#include "fcl/BV/AABB.h"
-#include "fcl/math/transform.h"
-#include "fcl/ccd/motion_base.h"
+#include <hpp/fcl/deprecated.h>
+#include <hpp/fcl/BV/AABB.h>
+#include <hpp/fcl/math/transform.h>
+#include <hpp/fcl/ccd/motion_base.h>
 #include <boost/shared_ptr.hpp>
 
 namespace fcl
diff --git a/include/fcl/config-fcl.hh.in b/include/hpp/fcl/config-fcl.hh.in
similarity index 98%
rename from include/fcl/config-fcl.hh.in
rename to include/hpp/fcl/config-fcl.hh.in
index d510a2901888d97f7833a51f4c325887e46ed6db..14cc27ddfd5960d453ca509ef6444dc2e60e292d 100644
--- a/include/fcl/config-fcl.hh.in
+++ b/include/hpp/fcl/config-fcl.hh.in
@@ -35,7 +35,7 @@
 #ifndef FCL_CONFIG_FCL_HH
 # define FCL_CONFIG_FCL_HH
 
-# include "fcl/config.h"
+# include "config.h"
 
 #cmakedefine01 FCL_HAVE_SSE
 #cmakedefine01 FCL_HAVE_OCTOMAP
diff --git a/include/fcl/continuous_collision.h b/include/hpp/fcl/continuous_collision.h
similarity index 90%
rename from include/fcl/continuous_collision.h
rename to include/hpp/fcl/continuous_collision.h
index ef6812d0ac9a037eda0a974267902048580c9729..43dd73a58fe09368ab36e90bddde9bf1b9cc4fba 100644
--- a/include/fcl/continuous_collision.h
+++ b/include/hpp/fcl/continuous_collision.h
@@ -1,9 +1,9 @@
 #ifndef FCL_CONTINUOUS_COLLISION_H
 #define FCL_CONTINUOUS_COLLISION_H
 
-#include "fcl/math/vec_3f.h"
-#include "fcl/collision_object.h"
-#include "fcl/collision_data.h"
+#include <hpp/fcl/math/vec_3f.h>
+#include <hpp/fcl/collision_object.h>
+#include <hpp/fcl/collision_data.h>
 
 namespace fcl
 {
diff --git a/include/fcl/data_types.h b/include/hpp/fcl/data_types.h
similarity index 100%
rename from include/fcl/data_types.h
rename to include/hpp/fcl/data_types.h
diff --git a/include/fcl/deprecated.h b/include/hpp/fcl/deprecated.h
similarity index 100%
rename from include/fcl/deprecated.h
rename to include/hpp/fcl/deprecated.h
diff --git a/include/fcl/distance.h b/include/hpp/fcl/distance.h
similarity index 97%
rename from include/fcl/distance.h
rename to include/hpp/fcl/distance.h
index 4f82c8f03059fd8944756195a1fe1fbeb1160952..d277d3812ee7ee53b9a146669ce23e37a5aa3ccf 100644
--- a/include/fcl/distance.h
+++ b/include/hpp/fcl/distance.h
@@ -38,8 +38,8 @@
 #ifndef FCL_DISTANCE_H
 #define FCL_DISTANCE_H
 
-#include "fcl/collision_object.h"
-#include "fcl/collision_data.h"
+#include <hpp/fcl/collision_object.h>
+#include <hpp/fcl/collision_data.h>
 
 namespace fcl
 {
diff --git a/include/fcl/distance_func_matrix.h b/include/hpp/fcl/distance_func_matrix.h
similarity index 97%
rename from include/fcl/distance_func_matrix.h
rename to include/hpp/fcl/distance_func_matrix.h
index 2a190349758d7925da03ad20060738d4d299ac47..1f4fe3c771c14d7472cbbeacbd2e8e5508b5cb65 100644
--- a/include/fcl/distance_func_matrix.h
+++ b/include/hpp/fcl/distance_func_matrix.h
@@ -38,8 +38,8 @@
 #ifndef FCL_DISTANCE_FUNC_MATRIX_H
 #define FCL_DISTANCE_FUNC_MATRIX_H
 
-#include "fcl/collision_object.h"
-#include "fcl/collision_data.h"
+#include <hpp/fcl/collision_object.h>
+#include <hpp/fcl/collision_data.h>
 
 namespace fcl
 {
diff --git a/include/fcl/doc.hh b/include/hpp/fcl/doc.hh
similarity index 100%
rename from include/fcl/doc.hh
rename to include/hpp/fcl/doc.hh
diff --git a/include/fcl/exception.h b/include/hpp/fcl/exception.h
similarity index 100%
rename from include/fcl/exception.h
rename to include/hpp/fcl/exception.h
diff --git a/include/fcl/fwd.hh b/include/hpp/fcl/fwd.hh
similarity index 100%
rename from include/fcl/fwd.hh
rename to include/hpp/fcl/fwd.hh
diff --git a/include/fcl/intersect.h b/include/hpp/fcl/intersect.h
similarity index 97%
rename from include/fcl/intersect.h
rename to include/hpp/fcl/intersect.h
index 1149d42fedb4b4eb44ebc41dbcc9ca652aa07c6f..7dd363187862328428a578fab410600ba4c7b9f9 100644
--- a/include/fcl/intersect.h
+++ b/include/hpp/fcl/intersect.h
@@ -38,7 +38,7 @@
 #ifndef FCL_INTERSECT_H
 #define FCL_INTERSECT_H
 
-#include "fcl/math/transform.h"
+#include <hpp/fcl/math/transform.h>
 #include <boost/math/special_functions/erf.hpp>
 
 namespace fcl
diff --git a/include/fcl/knn/greedy_kcenters.h b/include/hpp/fcl/knn/greedy_kcenters.h
similarity index 99%
rename from include/fcl/knn/greedy_kcenters.h
rename to include/hpp/fcl/knn/greedy_kcenters.h
index 030327760d1a0d3b2a3132483d1a20039e139fef..38ea95495c35f461d4ca34dc136fd5744fe23da3 100644
--- a/include/fcl/knn/greedy_kcenters.h
+++ b/include/hpp/fcl/knn/greedy_kcenters.h
@@ -38,7 +38,7 @@
 #define FCL_KNN_GREEDY_KCENTERS_H
 
 
-#include "fcl/math/sampling.h"
+#include <hpp/fcl/math/sampling.h>
 
 namespace fcl
 {
diff --git a/include/fcl/knn/nearest_neighbors.h b/include/hpp/fcl/knn/nearest_neighbors.h
similarity index 100%
rename from include/fcl/knn/nearest_neighbors.h
rename to include/hpp/fcl/knn/nearest_neighbors.h
diff --git a/include/fcl/knn/nearest_neighbors_GNAT.h b/include/hpp/fcl/knn/nearest_neighbors_GNAT.h
similarity index 99%
rename from include/fcl/knn/nearest_neighbors_GNAT.h
rename to include/hpp/fcl/knn/nearest_neighbors_GNAT.h
index e6e8196eade6a66b493196fa8897f53ee8cb2e40..4d3c6ac1aecd978c8c82f641e0b772ea27bfe7e3 100644
--- a/include/fcl/knn/nearest_neighbors_GNAT.h
+++ b/include/hpp/fcl/knn/nearest_neighbors_GNAT.h
@@ -37,9 +37,9 @@
 #ifndef FCL_KNN_NEAREST_NEIGHBORS_GNAT_H
 #define FCL_KNN_NEAREST_NEIGHBORS_GNAT_H
 
-#include "fcl/knn/nearest_neighbors.h"
-#include "fcl/knn/greedy_kcenters.h"
-#include "fcl/exception.h"
+#include <hpp/fcl/knn/nearest_neighbors.h>
+#include <hpp/fcl/knn/greedy_kcenters.h>
+#include <hpp/fcl/exception.h>
 #include <boost/unordered_set.hpp>
 #include <queue>
 #include <algorithm>
diff --git a/include/fcl/knn/nearest_neighbors_flann.h b/include/hpp/fcl/knn/nearest_neighbors_flann.h
similarity index 99%
rename from include/fcl/knn/nearest_neighbors_flann.h
rename to include/hpp/fcl/knn/nearest_neighbors_flann.h
index 328f9f990a294db1e5c5ed536e6e608e83856775..c222c7e86689dbe763cccde923ca10e9eaabb30d 100644
--- a/include/fcl/knn/nearest_neighbors_flann.h
+++ b/include/hpp/fcl/knn/nearest_neighbors_flann.h
@@ -37,14 +37,14 @@
 #ifndef FCL_KNN_NEAREST_NEIGHBORS_FLANN_H
 #define FCL_KNN_NEAREST_NEIGHBORS_FLANN_H
 
-#include <fcl/config-fcl.hh>
+#include <hpp/fcl/config-fcl.hh>
 #if FCL_HAVE_FLANN == 0
 # error FLANN is not available. Please use a different NearestNeighbors data structure
 #else
 
-#include "fcl/knn/nearest_neighbors.h"
+#include <hpp/fcl/knn/nearest_neighbors.h>
 #include <flann/flann.hpp>
-#include "fcl/exception.h"
+#include <hpp/fcl/exception.h>
 
 namespace fcl
 {
diff --git a/include/fcl/knn/nearest_neighbors_linear.h b/include/hpp/fcl/knn/nearest_neighbors_linear.h
similarity index 98%
rename from include/fcl/knn/nearest_neighbors_linear.h
rename to include/hpp/fcl/knn/nearest_neighbors_linear.h
index 04145641d90f2e4da33e5f741eb809dbf80f848a..bc387b09d39a220fc63e975be1de3fb41e79f795 100644
--- a/include/fcl/knn/nearest_neighbors_linear.h
+++ b/include/hpp/fcl/knn/nearest_neighbors_linear.h
@@ -38,8 +38,8 @@
 #ifndef FCL_KNN_NEAREST_NEIGHBORS_LINEAR_H
 #define FCL_KNN_NEAREST_NEIGHBORS_LINEAR_H
 
-#include "fcl/knn/nearest_neighbors.h"
-#include "fcl/exception.h"
+#include <hpp/fcl/knn/nearest_neighbors.h>
+#include <hpp/fcl/exception.h>
 #include <algorithm>
 
 namespace fcl
diff --git a/include/fcl/knn/nearest_neighbors_sqrtapprox.h b/include/hpp/fcl/knn/nearest_neighbors_sqrtapprox.h
similarity index 98%
rename from include/fcl/knn/nearest_neighbors_sqrtapprox.h
rename to include/hpp/fcl/knn/nearest_neighbors_sqrtapprox.h
index 00644e57409481743bf3bac82b46c02625b0b9d1..e4748b6af68b7b1cfd42cdfec105d857571a81db 100644
--- a/include/fcl/knn/nearest_neighbors_sqrtapprox.h
+++ b/include/hpp/fcl/knn/nearest_neighbors_sqrtapprox.h
@@ -38,8 +38,8 @@
 #ifndef FCL_KNN_NEAREST_NEIGHBORS_SQRT_APPROX_H
 #define FCL_KNN_NEAREST_NEIGHBORS_SQRT_APPROX_H
 
-#include "fcl/knn/nearest_neighbors_linear.h"
-#include "fcl/exception.h"
+#include <hpp/fcl/knn/nearest_neighbors_linear.h>
+#include <hpp/fcl/exception.h>
 #include <algorithm>
 #include <cmath>
 
diff --git a/include/fcl/learning/classifier.h b/include/hpp/fcl/learning/classifier.h
similarity index 99%
rename from include/fcl/learning/classifier.h
rename to include/hpp/fcl/learning/classifier.h
index eaf22e44e2c611908f930b78f5cb07cf7477d1d0..d6660e918ba13d9757e295ba48a535f71d3ea1a2 100644
--- a/include/fcl/learning/classifier.h
+++ b/include/hpp/fcl/learning/classifier.h
@@ -1,7 +1,7 @@
 #ifndef FCL_LEARNING_CLASSIFIER_H
 #define FCL_LEARNING_CLASSIFIER_H
 
-#include "fcl/math/vec_nf.h"
+#include <hpp/fcl/math/vec_nf.h>
 
 namespace fcl
 {
diff --git a/include/fcl/math/math_details.h b/include/hpp/fcl/math/math_details.h
similarity index 100%
rename from include/fcl/math/math_details.h
rename to include/hpp/fcl/math/math_details.h
diff --git a/include/fcl/math/matrix_3f.h b/include/hpp/fcl/math/matrix_3f.h
similarity index 99%
rename from include/fcl/math/matrix_3f.h
rename to include/hpp/fcl/math/matrix_3f.h
index 9bfec2b37d81e430dfc5c705ffbfb0628e3cf7c0..f67934e9c22e962897c3b48649bd9d70efae5b0d 100644
--- a/include/fcl/math/matrix_3f.h
+++ b/include/hpp/fcl/math/matrix_3f.h
@@ -38,7 +38,7 @@
 #ifndef FCL_MATRIX_3F_H
 #define FCL_MATRIX_3F_H
 
-#include "fcl/math/vec_3f.h"
+#include <hpp/fcl/math/vec_3f.h>
 
 namespace fcl
 {
diff --git a/include/fcl/math/sampling.h b/include/hpp/fcl/math/sampling.h
similarity index 99%
rename from include/fcl/math/sampling.h
rename to include/hpp/fcl/math/sampling.h
index 29a4ce93ef43e1c326496047ce0dac233e5a6e97..3af1fdd6c5d8a511832ee58476074fcd1e8285de 100644
--- a/include/fcl/math/sampling.h
+++ b/include/hpp/fcl/math/sampling.h
@@ -7,8 +7,8 @@
 #include <boost/random/variate_generator.hpp>
 #include <boost/math/constants/constants.hpp>
 #include <boost/assign/list_of.hpp>
-#include "fcl/math/vec_nf.h"
-#include "fcl/math/transform.h"
+#include <hpp/fcl/math/vec_nf.h>
+#include <hpp/fcl/math/transform.h>
 
 namespace fcl
 {
diff --git a/include/fcl/math/transform.h b/include/hpp/fcl/math/transform.h
similarity index 99%
rename from include/fcl/math/transform.h
rename to include/hpp/fcl/math/transform.h
index 6fd7f01a424b0523a31213ebefb7a0828925b215..900053fa475274f8c4177b6a13a827eb03e0a99f 100644
--- a/include/fcl/math/transform.h
+++ b/include/hpp/fcl/math/transform.h
@@ -39,7 +39,7 @@
 #ifndef FCL_TRANSFORM_H
 #define FCL_TRANSFORM_H
 
-#include "fcl/math/matrix_3f.h"
+#include <hpp/fcl/math/matrix_3f.h>
 #include <boost/thread/mutex.hpp>
 
 namespace fcl
diff --git a/include/fcl/math/vec_3f.h b/include/hpp/fcl/math/vec_3f.h
similarity index 98%
rename from include/fcl/math/vec_3f.h
rename to include/hpp/fcl/math/vec_3f.h
index 4c39e24158ac42ce1022dcb04297d0615b1ae7ee..555d12b6249f3d447ef86ff7ca22d36a8add2277 100644
--- a/include/fcl/math/vec_3f.h
+++ b/include/hpp/fcl/math/vec_3f.h
@@ -38,12 +38,12 @@
 #ifndef FCL_VEC_3F_H
 #define FCL_VEC_3F_H
 
-#include <fcl/config-fcl.hh>
-#include "fcl/data_types.h"
-#include "fcl/math/math_details.h"
+#include <hpp/fcl/config-fcl.hh>
+#include <hpp/fcl/data_types.h>
+#include <hpp/fcl/math/math_details.h>
 
 #if FCL_HAVE_SSE
-#  include "fcl/simd/math_simd_details.h"
+#include <hpp/fcl/simd/math_simd_details.h>
 #endif
 
 #include <cmath>
diff --git a/include/fcl/math/vec_nf.h b/include/hpp/fcl/math/vec_nf.h
similarity index 99%
rename from include/fcl/math/vec_nf.h
rename to include/hpp/fcl/math/vec_nf.h
index db3d416fa7839d8374e3a511b30c017b4778f540..05ff8617c10b7fb6bb6db81ffeabfe70b3e2ace0 100644
--- a/include/fcl/math/vec_nf.h
+++ b/include/hpp/fcl/math/vec_nf.h
@@ -7,7 +7,7 @@
 #include <vector>
 #include <boost/array.hpp>
 #include <cstdarg>
-#include "fcl/data_types.h"
+#include <hpp/fcl/data_types.h>
 
 namespace fcl
 {
diff --git a/include/fcl/narrowphase/gjk.h b/include/hpp/fcl/narrowphase/gjk.h
similarity index 99%
rename from include/fcl/narrowphase/gjk.h
rename to include/hpp/fcl/narrowphase/gjk.h
index 7849a39df3c76004755d43c567db3aa96db80795..51ac2684996debcdc7eae1e61899adba7dda460f 100644
--- a/include/fcl/narrowphase/gjk.h
+++ b/include/hpp/fcl/narrowphase/gjk.h
@@ -38,8 +38,8 @@
 #ifndef FCL_GJK_H
 #define FCL_GJK_H
 
-#include "fcl/shape/geometric_shapes.h"
-#include "fcl/math/transform.h"
+#include <hpp/fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/math/transform.h>
 
 namespace fcl
 {
diff --git a/include/fcl/narrowphase/gjk_libccd.h b/include/hpp/fcl/narrowphase/gjk_libccd.h
similarity index 98%
rename from include/fcl/narrowphase/gjk_libccd.h
rename to include/hpp/fcl/narrowphase/gjk_libccd.h
index dd3ca3495f66ec49ecb3e0b3247b28ec4858c759..19cf2b9a5f8321887341dfa2af8e4876957fd09f 100644
--- a/include/fcl/narrowphase/gjk_libccd.h
+++ b/include/hpp/fcl/narrowphase/gjk_libccd.h
@@ -39,8 +39,8 @@
 #ifndef FCL_GJK_LIBCCD_H
 #define FCL_GJK_LIBCCD_H
 
-#include "fcl/shape/geometric_shapes.h"
-#include "fcl/math/transform.h"
+#include <hpp/fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/math/transform.h>
 
 #include <ccd/ccd.h>
 #include <ccd/quat.h>
diff --git a/include/fcl/narrowphase/narrowphase.h b/include/hpp/fcl/narrowphase/narrowphase.h
similarity index 99%
rename from include/fcl/narrowphase/narrowphase.h
rename to include/hpp/fcl/narrowphase/narrowphase.h
index 6821ec32f6c1a9fff967e9f824d31f355cdbbd29..84c074c60356239f5f5409ccbbebf77eca79a67c 100644
--- a/include/fcl/narrowphase/narrowphase.h
+++ b/include/hpp/fcl/narrowphase/narrowphase.h
@@ -38,8 +38,8 @@
 #ifndef FCL_NARROWPHASE_H
 #define FCL_NARROWPHASE_H
 
-#include "fcl/narrowphase/gjk.h"
-#include "fcl/narrowphase/gjk_libccd.h"
+#include <hpp/fcl/narrowphase/gjk.h>
+#include <hpp/fcl/narrowphase/gjk_libccd.h>
 
 
 
diff --git a/include/fcl/octree.h b/include/hpp/fcl/octree.h
similarity index 99%
rename from include/fcl/octree.h
rename to include/hpp/fcl/octree.h
index 451224e35345d31bd346954fc6a33831313c00d0..7f223d1c534a5addb901094a324ded1fc8be6e33 100644
--- a/include/fcl/octree.h
+++ b/include/hpp/fcl/octree.h
@@ -44,8 +44,8 @@
 #include <boost/array.hpp>
 
 #include <octomap/octomap.h>
-#include "fcl/BV/AABB.h"
-#include "fcl/collision_object.h"
+#include <hpp/fcl/BV/AABB.h>
+#include <hpp/fcl/collision_object.h>
 
 namespace fcl
 {
diff --git a/include/fcl/profile.h b/include/hpp/fcl/profile.h
similarity index 100%
rename from include/fcl/profile.h
rename to include/hpp/fcl/profile.h
diff --git a/include/fcl/shape/geometric_shape_to_BVH_model.h b/include/hpp/fcl/shape/geometric_shape_to_BVH_model.h
similarity index 99%
rename from include/fcl/shape/geometric_shape_to_BVH_model.h
rename to include/hpp/fcl/shape/geometric_shape_to_BVH_model.h
index a07022b85f0fa4862c8b21d516c711f24ae1ad76..f7d827cb813cc8ae176d7d99332ab1741f1c47ea 100644
--- a/include/fcl/shape/geometric_shape_to_BVH_model.h
+++ b/include/hpp/fcl/shape/geometric_shape_to_BVH_model.h
@@ -39,8 +39,8 @@
 #ifndef GEOMETRIC_SHAPE_TO_BVH_MODEL_H
 #define GEOMETRIC_SHAPE_TO_BVH_MODEL_H
 
-#include "fcl/shape/geometric_shapes.h"
-#include "fcl/BVH/BVH_model.h"
+#include <hpp/fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/BVH/BVH_model.h>
 #include <boost/math/constants/constants.hpp>
 
 namespace fcl
diff --git a/include/fcl/shape/geometric_shapes.h b/include/hpp/fcl/shape/geometric_shapes.h
similarity index 99%
rename from include/fcl/shape/geometric_shapes.h
rename to include/hpp/fcl/shape/geometric_shapes.h
index ad2fbff578427d7da3a48d485c9705e39e2e2f88..7d9322a0d5f7dc20b8362eb17270ba24886bdf42 100644
--- a/include/fcl/shape/geometric_shapes.h
+++ b/include/hpp/fcl/shape/geometric_shapes.h
@@ -39,8 +39,8 @@
 #ifndef FCL_GEOMETRIC_SHAPES_H
 #define FCL_GEOMETRIC_SHAPES_H
 
-#include "fcl/collision_object.h"
-#include "fcl/math/vec_3f.h"
+#include <hpp/fcl/collision_object.h>
+#include <hpp/fcl/math/vec_3f.h>
 #include <string.h>
 
 namespace fcl
diff --git a/include/fcl/shape/geometric_shapes_utility.h b/include/hpp/fcl/shape/geometric_shapes_utility.h
similarity index 99%
rename from include/fcl/shape/geometric_shapes_utility.h
rename to include/hpp/fcl/shape/geometric_shapes_utility.h
index 6feab73e71f2c560fa969c23bbe7bfe24e65f706..d6efeecc4cc5302cee000f57068638ad5d7cca35 100644
--- a/include/fcl/shape/geometric_shapes_utility.h
+++ b/include/hpp/fcl/shape/geometric_shapes_utility.h
@@ -40,8 +40,8 @@
 #define FCL_GEOMETRIC_SHAPES_UTILITY_H
 
 #include <vector>
-#include "fcl/shape/geometric_shapes.h"
-#include "fcl/BV/BV.h"
+#include <hpp/fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/BV/BV.h>
 
 namespace fcl
 {
diff --git a/include/fcl/simd/math_simd_details.h b/include/hpp/fcl/simd/math_simd_details.h
similarity index 99%
rename from include/fcl/simd/math_simd_details.h
rename to include/hpp/fcl/simd/math_simd_details.h
index 01ebca04d2a5bc3a84762469157dd774932ca3bc..13346b63f214f028826e7c1b9eddb5dca471fb59 100644
--- a/include/fcl/simd/math_simd_details.h
+++ b/include/hpp/fcl/simd/math_simd_details.h
@@ -39,7 +39,7 @@
 #ifndef FCL_MATH_SIMD_DETAILS_H
 #define FCL_MATH_SIMD_DETAILS_H
 
-#include "fcl/data_types.h"
+#include <hpp/fcl/data_types.h>
 
 #include <xmmintrin.h>
 #if defined (__SSE3__)
diff --git a/include/fcl/simd/simd_intersect.h b/include/hpp/fcl/simd/simd_intersect.h
similarity index 99%
rename from include/fcl/simd/simd_intersect.h
rename to include/hpp/fcl/simd/simd_intersect.h
index 312fa7c192fbd2d0a62cdb7c34ad8df3a68fdae0..1e94e8e5427f3b81ac77c1758cbcb15ae61fc005 100644
--- a/include/fcl/simd/simd_intersect.h
+++ b/include/hpp/fcl/simd/simd_intersect.h
@@ -38,7 +38,7 @@
 #ifndef FCL_MULTIPLE_INTERSECT
 #define FCL_MULTIPLE_INTERSECT
 
-#include "fcl/math/vec_3f.h"
+#include <hpp/fcl/math/vec_3f.h>
 
 #include <xmmintrin.h>
 #include <pmmintrin.h>
diff --git a/include/fcl/traversal/traversal_node_base.h b/include/hpp/fcl/traversal/traversal_node_base.h
similarity index 98%
rename from include/fcl/traversal/traversal_node_base.h
rename to include/hpp/fcl/traversal/traversal_node_base.h
index 13ad9d3e89051a06d95247266b16141ec2e83899..2208b0ab7fc077df553e12b9e4e3a12420864105 100644
--- a/include/fcl/traversal/traversal_node_base.h
+++ b/include/hpp/fcl/traversal/traversal_node_base.h
@@ -38,9 +38,9 @@
 #ifndef FCL_TRAVERSAL_NODE_BASE_H
 #define FCL_TRAVERSAL_NODE_BASE_H
 
-#include "fcl/data_types.h"
-#include "fcl/math/transform.h"
-#include "fcl/collision_data.h"
+#include <hpp/fcl/data_types.h>
+#include <hpp/fcl/math/transform.h>
+#include <hpp/fcl/collision_data.h>
 
 namespace fcl
 {
diff --git a/include/fcl/traversal/traversal_node_bvh_shape.h b/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
similarity index 99%
rename from include/fcl/traversal/traversal_node_bvh_shape.h
rename to include/hpp/fcl/traversal/traversal_node_bvh_shape.h
index e142ce59207e33732b2136f4b419ae03c404b76a..fe61f5f84540aa2bfc339434a67031765a4c0da5 100644
--- a/include/fcl/traversal/traversal_node_bvh_shape.h
+++ b/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
@@ -39,11 +39,11 @@
 #ifndef FCL_TRAVERSAL_NODE_MESH_SHAPE_H
 #define FCL_TRAVERSAL_NODE_MESH_SHAPE_H
 
-#include "fcl/collision_data.h"
-#include "fcl/shape/geometric_shapes.h"
-#include "fcl/shape/geometric_shapes_utility.h"
-#include "fcl/traversal/traversal_node_base.h"
-#include "fcl/BVH/BVH_model.h"
+#include <hpp/fcl/collision_data.h>
+#include <hpp/fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/shape/geometric_shapes_utility.h>
+#include <hpp/fcl/traversal/traversal_node_base.h>
+#include <hpp/fcl/BVH/BVH_model.h>
 
 
 namespace fcl
diff --git a/include/fcl/traversal/traversal_node_bvhs.h b/include/hpp/fcl/traversal/traversal_node_bvhs.h
similarity index 99%
rename from include/fcl/traversal/traversal_node_bvhs.h
rename to include/hpp/fcl/traversal/traversal_node_bvhs.h
index 6e167d76d3345d5a37a9f993e8d4f275292a10a6..9b3f4efd8b509f2e9206216fb66344e7560447c2 100644
--- a/include/fcl/traversal/traversal_node_bvhs.h
+++ b/include/hpp/fcl/traversal/traversal_node_bvhs.h
@@ -39,13 +39,13 @@
 #ifndef FCL_TRAVERSAL_NODE_MESHES_H
 #define FCL_TRAVERSAL_NODE_MESHES_H
 
-#include "fcl/collision_data.h"
-#include "fcl/traversal/traversal_node_base.h"
-#include "fcl/BV/BV_node.h"
-#include "fcl/BV/BV.h"
-#include "fcl/BVH/BVH_model.h"
-#include "fcl/intersect.h"
-#include "fcl/ccd/motion.h"
+#include <hpp/fcl/collision_data.h>
+#include <hpp/fcl/traversal/traversal_node_base.h>
+#include <hpp/fcl/BV/BV_node.h>
+#include <hpp/fcl/BV/BV.h>
+#include <hpp/fcl/BVH/BVH_model.h>
+#include <hpp/fcl/intersect.h>
+#include <hpp/fcl/ccd/motion.h>
 
 #include <boost/shared_array.hpp>
 #include <boost/shared_ptr.hpp>
diff --git a/include/fcl/traversal/traversal_node_octree.h b/include/hpp/fcl/traversal/traversal_node_octree.h
similarity index 99%
rename from include/fcl/traversal/traversal_node_octree.h
rename to include/hpp/fcl/traversal/traversal_node_octree.h
index 7606cece9d4ef24cd83a15fe3c44770bf9445d10..331dc89fa2129bd8f4e669ce66c8ef8424f6929e 100644
--- a/include/fcl/traversal/traversal_node_octree.h
+++ b/include/hpp/fcl/traversal/traversal_node_octree.h
@@ -38,12 +38,12 @@
 #ifndef FCL_TRAVERSAL_NODE_OCTREE_H
 #define FCL_TRAVERSAL_NODE_OCTREE_H
 
-#include "fcl/collision_data.h"
-#include "fcl/traversal/traversal_node_base.h"
-#include "fcl/narrowphase/narrowphase.h"
-#include "fcl/shape/geometric_shapes_utility.h"
-#include "fcl/octree.h"
-#include "fcl/BVH/BVH_model.h"
+#include <hpp/fcl/collision_data.h>
+#include <hpp/fcl/traversal/traversal_node_base.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
+#include <hpp/fcl/shape/geometric_shapes_utility.h>
+#include <hpp/fcl/octree.h>
+#include <hpp/fcl/BVH/BVH_model.h>
 
 namespace fcl
 {
diff --git a/include/fcl/traversal/traversal_node_setup.h b/include/hpp/fcl/traversal/traversal_node_setup.h
similarity index 99%
rename from include/fcl/traversal/traversal_node_setup.h
rename to include/hpp/fcl/traversal/traversal_node_setup.h
index 26ce827cd4c61ef0eca98ac5374ea5da9275bb75..75271c307bfb994726daa609f647e78fb87a782e 100644
--- a/include/fcl/traversal/traversal_node_setup.h
+++ b/include/hpp/fcl/traversal/traversal_node_setup.h
@@ -39,16 +39,16 @@
 #ifndef FCL_TRAVERSAL_NODE_SETUP_H
 #define FCL_TRAVERSAL_NODE_SETUP_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"
+#include <hpp/fcl/config-fcl.hh>
+#include <hpp/fcl/traversal/traversal_node_bvhs.h>
+#include <hpp/fcl/traversal/traversal_node_shapes.h>
+#include <hpp/fcl/traversal/traversal_node_bvh_shape.h>
 
 #if FCL_HAVE_OCTOMAP
-#include "fcl/traversal/traversal_node_octree.h"
+#include <hpp/fcl/traversal/traversal_node_octree.h>
 #endif
 
-#include "fcl/BVH/BVH_utility.h"
+#include <hpp/fcl/BVH/BVH_utility.h>
 
 namespace fcl
 {
diff --git a/include/fcl/traversal/traversal_node_shapes.h b/include/hpp/fcl/traversal/traversal_node_shapes.h
similarity index 95%
rename from include/fcl/traversal/traversal_node_shapes.h
rename to include/hpp/fcl/traversal/traversal_node_shapes.h
index 550e92a57ff9c257f34010186423b0bce4e6e1e7..fccdbadf4c7c7bc50d9bcc1a684bd1350708bc92 100644
--- a/include/fcl/traversal/traversal_node_shapes.h
+++ b/include/hpp/fcl/traversal/traversal_node_shapes.h
@@ -39,13 +39,13 @@
 #ifndef FCL_TRAVERSAL_NODE_SHAPES_H
 #define FCL_TRAVERSAL_NODE_SHAPES_H
 
-#include "fcl/collision_data.h"
-#include "fcl/traversal/traversal_node_base.h"
-#include "fcl/narrowphase/narrowphase.h"
-#include "fcl/shape/geometric_shapes_utility.h"
-#include "fcl/BV/BV.h"
-#include "fcl/shape/geometric_shapes_utility.h"
-#include "fcl/ccd/motion.h"
+#include <hpp/fcl/collision_data.h>
+#include <hpp/fcl/traversal/traversal_node_base.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
+#include <hpp/fcl/shape/geometric_shapes_utility.h>
+#include <hpp/fcl/BV/BV.h>
+#include <hpp/fcl/shape/geometric_shapes_utility.h>
+#include <hpp/fcl/ccd/motion.h>
 
 namespace fcl
 {
diff --git a/include/fcl/traversal/traversal_recurse.h b/include/hpp/fcl/traversal/traversal_recurse.h
similarity index 96%
rename from include/fcl/traversal/traversal_recurse.h
rename to include/hpp/fcl/traversal/traversal_recurse.h
index 0225c632958b9531107ab778ac7fa354ee97e9cc..4000a9305943b12c583c6257bd6bd4db50020a7b 100644
--- a/include/fcl/traversal/traversal_recurse.h
+++ b/include/hpp/fcl/traversal/traversal_recurse.h
@@ -39,9 +39,9 @@
 #ifndef FCL_TRAVERSAL_RECURSE_H
 #define FCL_TRAVERSAL_RECURSE_H
 
-#include "fcl/traversal/traversal_node_base.h"
-#include "fcl/traversal/traversal_node_bvhs.h"
-#include "fcl/BVH/BVH_front.h"
+#include <hpp/fcl/traversal/traversal_node_base.h>
+#include <hpp/fcl/traversal/traversal_node_bvhs.h>
+#include <hpp/fcl/BVH/BVH_front.h>
 #include <queue>
 
 namespace fcl
diff --git a/src/BV/AABB.cpp b/src/BV/AABB.cpp
index 460489441a408f106481b739c55958b29d82f2a0..0f66b45915cf78239eabf3a7ab8cefa52560912c 100644
--- a/src/BV/AABB.cpp
+++ b/src/BV/AABB.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/BV/AABB.h"
+#include <hpp/fcl/BV/AABB.h>
 
 #include <limits>
 #include <iostream>
diff --git a/src/BV/OBB.cpp b/src/BV/OBB.cpp
index d415dbdb16634a1fada7f21f5b09d81459cba467..8fb9e8dedf1229844d485197ff1e12bddcf5b4db 100644
--- a/src/BV/OBB.cpp
+++ b/src/BV/OBB.cpp
@@ -35,9 +35,9 @@
 
 /** \author Jia Pan */
 
-#include "fcl/BV/OBB.h"
-#include "fcl/BVH/BVH_utility.h"
-#include "fcl/math/transform.h"
+#include <hpp/fcl/BV/OBB.h>
+#include <hpp/fcl/BVH/BVH_utility.h>
+#include <hpp/fcl/math/transform.h>
 
 #include <iostream>
 #include <limits>
diff --git a/src/BV/OBBRSS.cpp b/src/BV/OBBRSS.cpp
index 9d257d2c148d38ebe2e3202debc4c3a44665daa2..15c2b0d6145fcaec357278618dbbccddef68c99e 100644
--- a/src/BV/OBBRSS.cpp
+++ b/src/BV/OBBRSS.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/BV/OBBRSS.h"
+#include <hpp/fcl/BV/OBBRSS.h>
 
 namespace fcl
 {
diff --git a/src/BV/RSS.cpp b/src/BV/RSS.cpp
index fc49ea3bdf552e5cc106792dd8aea62ef6443d38..197fc776419ab5465eed66cd34af080c4d69b783 100644
--- a/src/BV/RSS.cpp
+++ b/src/BV/RSS.cpp
@@ -35,8 +35,8 @@
 
 /** \author Jia Pan */
 
-#include "fcl/BV/RSS.h"
-#include "fcl/BVH/BVH_utility.h"
+#include <hpp/fcl/BV/RSS.h>
+#include <hpp/fcl/BVH/BVH_utility.h>
 #include <iostream>
 namespace fcl
 {
diff --git a/src/BV/kDOP.cpp b/src/BV/kDOP.cpp
index c883327625998216a4614d8ee57665f0f0e53c02..5c6f2ddd2fc0037949431e84703fd13d4d15fa75 100644
--- a/src/BV/kDOP.cpp
+++ b/src/BV/kDOP.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/BV/kDOP.h"
+#include <hpp/fcl/BV/kDOP.h>
 #include <limits>
 #include <iostream>
 
diff --git a/src/BV/kIOS.cpp b/src/BV/kIOS.cpp
index 50422c5a35a071a479bd78b9d4700473c9d4aebb..111aecb40e8d4d82e546b69155e1ffbbe56e06fc 100644
--- a/src/BV/kIOS.cpp
+++ b/src/BV/kIOS.cpp
@@ -35,9 +35,9 @@
 
 /** \author Jia Pan */
 
-#include "fcl/BV/kIOS.h"
-#include "fcl/BVH/BVH_utility.h"
-#include "fcl/math/transform.h"
+#include <hpp/fcl/BV/kIOS.h>
+#include <hpp/fcl/BVH/BVH_utility.h>
+#include <hpp/fcl/math/transform.h>
 
 #include <iostream>
 #include <limits>
diff --git a/src/BVH/BVH_model.cpp b/src/BVH/BVH_model.cpp
index 796ab7465cafe84b18854bfb42254b10a66a7195..1aa211b3b6503832d1ede49a5567e1ccc728f33c 100644
--- a/src/BVH/BVH_model.cpp
+++ b/src/BVH/BVH_model.cpp
@@ -35,8 +35,8 @@
 
 /** \author Jia Pan */
 
-#include "fcl/BVH/BVH_model.h"
-#include "fcl/BV/BV.h"
+#include <hpp/fcl/BVH/BVH_model.h>
+#include <hpp/fcl/BV/BV.h>
 #include <iostream>
 #include <string.h>
 
diff --git a/src/BVH/BVH_utility.cpp b/src/BVH/BVH_utility.cpp
index 24f40b4bd89e7c8fb222ee7f1951074629b33c55..0ccc22d6240b2b7a762fe6e14fea320841aa843c 100644
--- a/src/BVH/BVH_utility.cpp
+++ b/src/BVH/BVH_utility.cpp
@@ -36,7 +36,7 @@
 /** \author Jia Pan */
 
 
-#include "fcl/BVH/BVH_utility.h"
+#include <hpp/fcl/BVH/BVH_utility.h>
 
 namespace fcl
 {
diff --git a/src/BVH/BV_fitter.cpp b/src/BVH/BV_fitter.cpp
index ff92a753d42239f8e0c77886b222cc131a7a9e18..5240c429ff418438887447b152922f474d5bb3e6 100644
--- a/src/BVH/BV_fitter.cpp
+++ b/src/BVH/BV_fitter.cpp
@@ -35,8 +35,8 @@
 
 /** \author Jia Pan */
 
-#include "fcl/BVH/BV_fitter.h"
-#include "fcl/BVH/BVH_utility.h"
+#include <hpp/fcl/BVH/BV_fitter.h>
+#include <hpp/fcl/BVH/BVH_utility.h>
 #include <limits>
 
 namespace fcl
diff --git a/src/BVH/BV_splitter.cpp b/src/BVH/BV_splitter.cpp
index bb423eb35e21260be3d5438c4748b9c977413fbb..a7f53f48d9c1ba567aa9575134d633578e722b37 100644
--- a/src/BVH/BV_splitter.cpp
+++ b/src/BVH/BV_splitter.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/BVH/BV_splitter.h"
+#include <hpp/fcl/BVH/BV_splitter.h>
 
 namespace fcl
 {
diff --git a/src/articulated_model/joint.cpp b/src/articulated_model/joint.cpp
index 645312307998aaef8b38421e661eaa4323d1ffc4..965bd12d4b505a05825e1bca2a705a6c39a8d6ee 100644
--- a/src/articulated_model/joint.cpp
+++ b/src/articulated_model/joint.cpp
@@ -35,9 +35,9 @@
 
 /** \author Dalibor Matura, Jia Pan */
 
-#include "fcl/articulated_model/joint.h"
-#include "fcl/articulated_model/link.h"
-#include "fcl/articulated_model/joint_config.h"
+#include <hpp/fcl/articulated_model/joint.h>
+#include <hpp/fcl/articulated_model/link.h>
+#include <hpp/fcl/articulated_model/joint_config.h>
 
 namespace fcl
 {
diff --git a/src/articulated_model/joint_config.cpp b/src/articulated_model/joint_config.cpp
index 9a65ff65d88caa857495f98f067a822fad8cfe69..7c8c3b4101278e276dc9e08d5c6aaa3a026b2552 100644
--- a/src/articulated_model/joint_config.cpp
+++ b/src/articulated_model/joint_config.cpp
@@ -35,8 +35,8 @@
 
 /** \author Dalibor Matura, Jia Pan */
 
-#include "fcl/articulated_model/joint_config.h"
-#include "fcl/articulated_model/joint.h"
+#include <hpp/fcl/articulated_model/joint_config.h>
+#include <hpp/fcl/articulated_model/joint.h>
 
 namespace fcl
 {
diff --git a/src/articulated_model/link.cpp b/src/articulated_model/link.cpp
index c8c68df2664aa8325908d7044fdf3c52d5e90385..faf85193d0256dd618aedde1d2ddecfc35fed4f3 100644
--- a/src/articulated_model/link.cpp
+++ b/src/articulated_model/link.cpp
@@ -35,9 +35,9 @@
 
 /** \author Dalibor Matura, Jia Pan */
 
-#include "fcl/articulated_model/link.h"
+#include <hpp/fcl/articulated_model/link.h>
 
-#include "fcl/articulated_model/joint.h"
+#include <hpp/fcl/articulated_model/joint.h>
 
 namespace fcl
 {
diff --git a/src/articulated_model/model.cpp b/src/articulated_model/model.cpp
index d95cc95c0ad71fab4c36138dfd08853adaabe187..906e0252f6f20b1246358bc6ff1043f47c8bb61e 100644
--- a/src/articulated_model/model.cpp
+++ b/src/articulated_model/model.cpp
@@ -35,8 +35,8 @@
 
 /** \author Dalibor Matura, Jia Pan */
 
-#include "fcl/articulated_model/model.h"
-#include "fcl/articulated_model/model_config.h"
+#include <hpp/fcl/articulated_model/model.h>
+#include <hpp/fcl/articulated_model/model_config.h>
 #include <boost/assert.hpp>
 
 namespace fcl
diff --git a/src/articulated_model/model_config.cpp b/src/articulated_model/model_config.cpp
index 31af9628847517efb975863d27f0746ea75847fe..8f72deb8123051eacb3bf51bc4bf5b4623f241b5 100644
--- a/src/articulated_model/model_config.cpp
+++ b/src/articulated_model/model_config.cpp
@@ -35,8 +35,8 @@
 
 /** \author Dalibor Matura, Jia Pan */
 
-#include "fcl/articulated_model/model_config.h"
-#include "fcl/articulated_model/joint.h"
+#include <hpp/fcl/articulated_model/model_config.h>
+#include <hpp/fcl/articulated_model/joint.h>
 #include <algorithm>
 
 // Define for boost version < 1.47
diff --git a/src/broadphase/broadphase_SSaP.cpp b/src/broadphase/broadphase_SSaP.cpp
index bd420c377643da5feae984ee4feea89791531653..a08bf5a92daf707463ae55f2eef3a4ebc4aa5d7b 100644
--- a/src/broadphase/broadphase_SSaP.cpp
+++ b/src/broadphase/broadphase_SSaP.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/broadphase/broadphase_SSaP.h"
+#include <hpp/fcl/broadphase/broadphase_SSaP.h>
 #include <algorithm>
 #include <limits>
 
diff --git a/src/broadphase/broadphase_SaP.cpp b/src/broadphase/broadphase_SaP.cpp
index 34667b00a6a8317873d76c9fdcd6eca70f1bcbb2..e60c0a352fdfb1f084e68da9535c6ad3c71605b9 100644
--- a/src/broadphase/broadphase_SaP.cpp
+++ b/src/broadphase/broadphase_SaP.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/broadphase/broadphase_SaP.h"
+#include <hpp/fcl/broadphase/broadphase_SaP.h>
 #include <algorithm>
 #include <limits>
 #include <boost/bind.hpp>
diff --git a/src/broadphase/broadphase_bruteforce.cpp b/src/broadphase/broadphase_bruteforce.cpp
index e6e41fc8c32abf7d68ef5dc3fe4a755dff74bf0c..f5eb1f6e8d1da8b6d94b0df147e86abe1c89d3d9 100644
--- a/src/broadphase/broadphase_bruteforce.cpp
+++ b/src/broadphase/broadphase_bruteforce.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/broadphase/broadphase_bruteforce.h"
+#include <hpp/fcl/broadphase/broadphase_bruteforce.h>
 #include <limits>
 
 namespace fcl
diff --git a/src/broadphase/broadphase_dynamic_AABB_tree.cpp b/src/broadphase/broadphase_dynamic_AABB_tree.cpp
index 1b518589be8058cda61ee7e12e027678afca2282..03e83ff0960745de4a21c040eb163a1df5f3bda6 100644
--- a/src/broadphase/broadphase_dynamic_AABB_tree.cpp
+++ b/src/broadphase/broadphase_dynamic_AABB_tree.cpp
@@ -36,10 +36,10 @@
 /** \author Jia Pan */
 
 
-#include "fcl/broadphase/broadphase_dynamic_AABB_tree.h"
+#include <hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h>
 
 #if FCL_HAVE_OCTOMAP
-#include "fcl/octree.h"
+#include <hpp/fcl/octree.h>
 #endif
 
 namespace fcl
diff --git a/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp b/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp
index 6f3be3724a861a649a365a505e01da17b76a6433..079be2061ac6f85e4470fb3bd00a63b2a793af9c 100644
--- a/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp
+++ b/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp
@@ -35,10 +35,10 @@
 
 /** \author Jia Pan */
 
-#include "fcl/broadphase/broadphase_dynamic_AABB_tree_array.h"
+#include <hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h>
 
 #if FCL_HAVE_OCTOMAP
-#include "fcl/octree.h"
+#include <hpp/fcl/octree.h>
 #endif
 
 namespace fcl
diff --git a/src/broadphase/broadphase_interval_tree.cpp b/src/broadphase/broadphase_interval_tree.cpp
index 92a3651875fd20847b21b4f7f7afe30c66d1ef55..7c66c1f20f85e284a62fe6412c49b46a9ea9ebd2 100644
--- a/src/broadphase/broadphase_interval_tree.cpp
+++ b/src/broadphase/broadphase_interval_tree.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/broadphase/broadphase_interval_tree.h"
+#include <hpp/fcl/broadphase/broadphase_interval_tree.h>
 #include <algorithm>
 #include <limits>
 #include <boost/bind.hpp>
diff --git a/src/broadphase/broadphase_spatialhash.cpp b/src/broadphase/broadphase_spatialhash.cpp
index 41cf4767c3c5bd294c1326ddc5a35cd001431a0a..90f272a54cba5b3ec1b34163f7e71de4209cc0c7 100644
--- a/src/broadphase/broadphase_spatialhash.cpp
+++ b/src/broadphase/broadphase_spatialhash.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/broadphase/broadphase_spatialhash.h"
+#include <hpp/fcl/broadphase/broadphase_spatialhash.h>
 
 namespace fcl
 {
diff --git a/src/broadphase/hierarchy_tree.cpp b/src/broadphase/hierarchy_tree.cpp
index 76df94d19d70c3ec25c5886971f1ef0a22c3a375..e1d48d989a0eb0789b7d525a9bb1002a700bf27a 100644
--- a/src/broadphase/hierarchy_tree.cpp
+++ b/src/broadphase/hierarchy_tree.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/broadphase/hierarchy_tree.h"
+#include <hpp/fcl/broadphase/hierarchy_tree.h>
 
 namespace fcl
 {
diff --git a/src/broadphase/interval_tree.cpp b/src/broadphase/interval_tree.cpp
index 361e2cb504f3353c23e2a3d191196291b28e488f..b5e84d45c7685f26e0523fc4902367027d1d935a 100644
--- a/src/broadphase/interval_tree.cpp
+++ b/src/broadphase/interval_tree.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/broadphase/interval_tree.h"
+#include <hpp/fcl/broadphase/interval_tree.h>
 #include <iostream>
 #include <cstdlib>
 
diff --git a/src/ccd/conservative_advancement.cpp b/src/ccd/conservative_advancement.cpp
index c83f3de38639023f323bd1a3b09dfcd66ce45542..146cecb90a8083be168ab8d1b2e0defe4c908930 100644
--- a/src/ccd/conservative_advancement.cpp
+++ b/src/ccd/conservative_advancement.cpp
@@ -35,13 +35,13 @@
 
 /** \author Jia Pan */
 
-#include "fcl/ccd/conservative_advancement.h"
-#include "fcl/ccd/motion.h"
-#include "fcl/collision_node.h"
-#include "fcl/traversal/traversal_node_bvhs.h"
-#include "fcl/traversal/traversal_node_setup.h"
-#include "fcl/traversal/traversal_recurse.h"
-#include "fcl/collision.h"
+#include <hpp/fcl/ccd/conservative_advancement.h>
+#include <hpp/fcl/ccd/motion.h>
+#include <hpp/fcl/collision_node.h>
+#include <hpp/fcl/traversal/traversal_node_bvhs.h>
+#include <hpp/fcl/traversal/traversal_node_setup.h>
+#include <hpp/fcl/traversal/traversal_recurse.h>
+#include <hpp/fcl/collision.h>
 
 
 namespace fcl
diff --git a/src/ccd/interpolation/interpolation.cpp b/src/ccd/interpolation/interpolation.cpp
index 5f1b914be4823e27059ba99896532acf52b9fe0b..f77a4f17df7666da513787fec862545e4cd35f1d 100644
--- a/src/ccd/interpolation/interpolation.cpp
+++ b/src/ccd/interpolation/interpolation.cpp
@@ -35,7 +35,7 @@
 
 /** \author Dalibor Matura, Jia Pan */
 
-#include "fcl/ccd/interpolation/interpolation.h"
+#include <hpp/fcl/ccd/interpolation/interpolation.h>
 
 namespace fcl 
 {
diff --git a/src/ccd/interpolation/interpolation_factory.cpp b/src/ccd/interpolation/interpolation_factory.cpp
index d758653169718b943658f9716944dc6082fea3ed..d09ece2ceb522fb9927e615285ac3dc85b84a4e6 100644
--- a/src/ccd/interpolation/interpolation_factory.cpp
+++ b/src/ccd/interpolation/interpolation_factory.cpp
@@ -35,8 +35,8 @@
 
 /** \author Dalibor Matura, Jia Pan */
 
-#include "fcl/ccd/interpolation/interpolation_factory.h"
-#include "fcl/ccd/interpolation/interpolation_linear.h"
+#include <hpp/fcl/ccd/interpolation/interpolation_factory.h>
+#include <hpp/fcl/ccd/interpolation/interpolation_linear.h>
 
 #include <boost/assert.hpp>
 
diff --git a/src/ccd/interpolation/interpolation_linear.cpp b/src/ccd/interpolation/interpolation_linear.cpp
index 45cb4b3ae3e72cccd27b9d3c71b72fefc1bb0a96..3821531d2ed7388176db8e8606d61cf81294ff12 100644
--- a/src/ccd/interpolation/interpolation_linear.cpp
+++ b/src/ccd/interpolation/interpolation_linear.cpp
@@ -35,8 +35,8 @@
 
 /** \author Dalibor Matura, Jia Pan */
 
-#include "fcl/ccd/interpolation/interpolation_linear.h"
-#include "fcl/ccd/interpolation/interpolation_factory.h"
+#include <hpp/fcl/ccd/interpolation/interpolation_linear.h>
+#include <hpp/fcl/ccd/interpolation/interpolation_factory.h>
 
 namespace fcl 
 {
diff --git a/src/ccd/interval.cpp b/src/ccd/interval.cpp
index ef3b72165914160c19dab64eb06b5daae58ccb54..07bf68d43fc30102383cc90c624fcb4eb6aa811c 100644
--- a/src/ccd/interval.cpp
+++ b/src/ccd/interval.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/ccd/interval.h"
+#include <hpp/fcl/ccd/interval.h>
 #include <iostream>
 
 namespace fcl
diff --git a/src/ccd/interval_matrix.cpp b/src/ccd/interval_matrix.cpp
index 4b8a346787b8387d568453084703fe9f5c6b3f4b..0c03f3bf24454781171eb2c58aed92cabfaabc00 100644
--- a/src/ccd/interval_matrix.cpp
+++ b/src/ccd/interval_matrix.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/ccd/interval_matrix.h"
+#include <hpp/fcl/ccd/interval_matrix.h>
 #include <iostream>
 
 namespace fcl
diff --git a/src/ccd/interval_vector.cpp b/src/ccd/interval_vector.cpp
index 3e2c09bbdffa55d86593a400ea22a06f4d24d429..b0c8e650174e13139acc5b4019ef2efb0e7c1384 100644
--- a/src/ccd/interval_vector.cpp
+++ b/src/ccd/interval_vector.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/ccd/interval_vector.h"
+#include <hpp/fcl/ccd/interval_vector.h>
 #include <iostream>
 
 namespace fcl
diff --git a/src/ccd/motion.cpp b/src/ccd/motion.cpp
index a08f24672ea684f831d25795638221040765ebb0..a0fb85369a29b00815075db8e1f7c54e30d9947a 100644
--- a/src/ccd/motion.cpp
+++ b/src/ccd/motion.cpp
@@ -36,7 +36,7 @@
 /** \author Jia Pan */
 
 
-#include "fcl/ccd/motion.h"
+#include <hpp/fcl/ccd/motion.h>
 
 namespace fcl
 {
diff --git a/src/ccd/taylor_matrix.cpp b/src/ccd/taylor_matrix.cpp
index b06a64efd37da8d448f57d95adb67dacc39f48d8..ecde6afd13a2a52c9436f389c4e9f2ea7c617951 100644
--- a/src/ccd/taylor_matrix.cpp
+++ b/src/ccd/taylor_matrix.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/ccd/taylor_matrix.h"
+#include <hpp/fcl/ccd/taylor_matrix.h>
 
 namespace fcl
 {
diff --git a/src/ccd/taylor_model.cpp b/src/ccd/taylor_model.cpp
index c08b39c10eada7de21b540773950e50a4b96655e..b1b64468bffd010cd4c707eafee6fd9d2d70155b 100644
--- a/src/ccd/taylor_model.cpp
+++ b/src/ccd/taylor_model.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/ccd/taylor_model.h"
+#include <hpp/fcl/ccd/taylor_model.h>
 #include <cassert>
 #include <iostream>
 #include <cmath>
diff --git a/src/ccd/taylor_vector.cpp b/src/ccd/taylor_vector.cpp
index 340901791eef5f1e53f280a37dcbb6334501fc6b..de94c2dfdb50b1752e6787de4d3a6bfeedc872c3 100644
--- a/src/ccd/taylor_vector.cpp
+++ b/src/ccd/taylor_vector.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/ccd/taylor_vector.h"
+#include <hpp/fcl/ccd/taylor_vector.h>
 
 namespace fcl
 {
diff --git a/src/collision.cpp b/src/collision.cpp
index 5979fe8d92c60adb55b37f3fcd76effbefe1816e..5178a45afa79701db2916f1ea0fb074767fd9907 100644
--- a/src/collision.cpp
+++ b/src/collision.cpp
@@ -36,9 +36,9 @@
 /** \author Jia Pan */
 
 
-#include "fcl/collision.h"
-#include "fcl/collision_func_matrix.h"
-#include "fcl/narrowphase/narrowphase.h"
+#include <hpp/fcl/collision.h>
+#include <hpp/fcl/collision_func_matrix.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
 
 #include <iostream>
 
diff --git a/src/collision_data.cpp b/src/collision_data.cpp
index 2ba31b422465f8838dab39c2b18892091cab5809..1283912dfb41ab214188b99b0d50c0fed76e2901 100644
--- a/src/collision_data.cpp
+++ b/src/collision_data.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/collision_data.h"
+#include <hpp/fcl/collision_data.h>
 
 namespace fcl
 {
diff --git a/src/collision_func_matrix.cpp b/src/collision_func_matrix.cpp
index 6cc4853f8e05a51acbf7c7c1b451011e2b5d3ef5..7e8dea63f6c4ae99bfea18dbd9b432b82b276188 100644
--- a/src/collision_func_matrix.cpp
+++ b/src/collision_func_matrix.cpp
@@ -36,11 +36,11 @@
 /** \author Jia Pan */
 
 
-#include "fcl/collision_func_matrix.h"
+#include <hpp/fcl/collision_func_matrix.h>
 
-#include "fcl/traversal/traversal_node_setup.h"
-#include "fcl/collision_node.h"
-#include "fcl/narrowphase/narrowphase.h"
+#include <hpp/fcl/traversal/traversal_node_setup.h>
+#include <hpp/fcl/collision_node.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
 #include "distance_func_matrix.h"
 
 namespace fcl
diff --git a/src/collision_node.cpp b/src/collision_node.cpp
index 26cbdd978c50857eb7cca5857372d4acee00f1d4..02be38e001ea37e404b6d848e16b7f490b76c107 100644
--- a/src/collision_node.cpp
+++ b/src/collision_node.cpp
@@ -36,8 +36,8 @@
 /** \author Jia Pan */
 
 
-#include "fcl/collision_node.h"
-#include "fcl/traversal/traversal_recurse.h"
+#include <hpp/fcl/collision_node.h>
+#include <hpp/fcl/traversal/traversal_recurse.h>
 
 namespace fcl
 {
diff --git a/src/continuous_collision.cpp b/src/continuous_collision.cpp
index 1768eca99dcdbe3cc956460e7c0e21acdc03b463..c4896d59d1dca44ec2ae76922bdbd87efd05f76a 100644
--- a/src/continuous_collision.cpp
+++ b/src/continuous_collision.cpp
@@ -1,11 +1,11 @@
-#include "fcl/collision.h"
-#include "fcl/continuous_collision.h"
-#include "fcl/ccd/motion.h"
-#include "fcl/BVH/BVH_model.h"
-#include "fcl/traversal/traversal_node_bvhs.h"
-#include "fcl/traversal/traversal_node_setup.h"
-#include "fcl/collision_node.h"
-#include "fcl/ccd/conservative_advancement.h"
+#include <hpp/fcl/collision.h>
+#include <hpp/fcl/continuous_collision.h>
+#include <hpp/fcl/ccd/motion.h>
+#include <hpp/fcl/BVH/BVH_model.h>
+#include <hpp/fcl/traversal/traversal_node_bvhs.h>
+#include <hpp/fcl/traversal/traversal_node_setup.h>
+#include <hpp/fcl/collision_node.h>
+#include <hpp/fcl/ccd/conservative_advancement.h>
 #include <iostream>
 
 namespace fcl
diff --git a/src/distance.cpp b/src/distance.cpp
index 7fc6c96dbc75037cd12d2f567293e1ac70534226..30341788160b8589551f92c378bc39d17e66f0b9 100644
--- a/src/distance.cpp
+++ b/src/distance.cpp
@@ -35,9 +35,9 @@
 
 /** \author Jia Pan */
 
-#include "fcl/distance.h"
-#include "fcl/distance_func_matrix.h"
-#include "fcl/narrowphase/narrowphase.h"
+#include <hpp/fcl/distance.h>
+#include <hpp/fcl/distance_func_matrix.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
 
 #include <iostream>
 
diff --git a/src/distance_capsule_capsule.cpp b/src/distance_capsule_capsule.cpp
index 7b88f61aafdb1f7419aa96e808ffe494da27dba4..7239066a4f4b2985ef8926c1e09185de5acf320e 100644
--- a/src/distance_capsule_capsule.cpp
+++ b/src/distance_capsule_capsule.cpp
@@ -8,8 +8,8 @@
 
 #include <cmath>
 #include <limits>
-#include <fcl/math/transform.h>
-#include <fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/math/transform.h>
+#include <hpp/fcl/shape/geometric_shapes.h>
 #include "distance_func_matrix.h"
 
 // Note that partial specialization of template functions is not allowed.
diff --git a/src/distance_func_matrix.cpp b/src/distance_func_matrix.cpp
index a83c114a3d31240669ac6d6616cf16f951ae4f5f..84a182a1d549b511beeb51a1e88a02d452f1dd54 100644
--- a/src/distance_func_matrix.cpp
+++ b/src/distance_func_matrix.cpp
@@ -35,11 +35,11 @@
 
 /** \author Jia Pan */
 
-#include "fcl/distance_func_matrix.h"
+#include <hpp/fcl/distance_func_matrix.h>
 
-#include "fcl/collision_node.h"
-#include "fcl/traversal/traversal_node_setup.h"
-#include "fcl/narrowphase/narrowphase.h"
+#include <hpp/fcl/collision_node.h>
+#include <hpp/fcl/traversal/traversal_node_setup.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
 
 namespace fcl
 {
diff --git a/src/distance_func_matrix.h b/src/distance_func_matrix.h
index a4933c69d3443065b79d1e9cbd4889acfb2e47e9..3776853ce2f5772a80c3dc8ad3a908f77df35e6d 100644
--- a/src/distance_func_matrix.h
+++ b/src/distance_func_matrix.h
@@ -34,7 +34,7 @@
 
 /** \author Florent Lamiraux */
 
-#include <fcl/collision_data.h>
+#include <hpp/fcl/collision_data.h>
 
 namespace fcl {
   template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>
diff --git a/src/intersect.cpp b/src/intersect.cpp
index 6a08069b623bd98dfcb7b6ec8bc47ce13ec73e8e..10a57248179f7a43075094468347e46c69402df2 100644
--- a/src/intersect.cpp
+++ b/src/intersect.cpp
@@ -35,7 +35,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/intersect.h"
+#include <hpp/fcl/intersect.h>
 #include <iostream>
 #include <limits>
 #include <vector>
diff --git a/src/math/sampling.cpp b/src/math/sampling.cpp
index 4838eda44474c783022a0d0f4979f3b9106a66f5..f8498b59bb4a708a7e331782f464749b8457b355 100644
--- a/src/math/sampling.cpp
+++ b/src/math/sampling.cpp
@@ -1,4 +1,4 @@
-#include "fcl/math/sampling.h"
+#include <hpp/fcl/math/sampling.h>
 #include <boost/random/lagged_fibonacci.hpp>
 #include <boost/random/uniform_int.hpp>
 #include <boost/thread/mutex.hpp>
diff --git a/src/math/transform.cpp b/src/math/transform.cpp
index a2c20b36e7075883ade9ae15b33d5cb9d83a5372..c64b26667f83a87238969403db84858f69dce971 100644
--- a/src/math/transform.cpp
+++ b/src/math/transform.cpp
@@ -36,7 +36,7 @@
 /** \author Jia Pan */
 
 
-#include "fcl/math/transform.h"
+#include <hpp/fcl/math/transform.h>
 #include <boost/math/constants/constants.hpp>
 
 namespace fcl
diff --git a/src/narrowphase/gjk.cpp b/src/narrowphase/gjk.cpp
index c880df8517c41005a57e5788d57ba94c7999efe0..8a11f832d07bceea74e93b8cbae47aa32a914fc0 100644
--- a/src/narrowphase/gjk.cpp
+++ b/src/narrowphase/gjk.cpp
@@ -35,8 +35,8 @@
 
 /** \author Jia Pan */
 
-#include "fcl/narrowphase/gjk.h"
-#include "fcl/intersect.h"
+#include <hpp/fcl/narrowphase/gjk.h>
+#include <hpp/fcl/intersect.h>
 
 namespace fcl
 {
diff --git a/src/narrowphase/gjk_libccd.cpp b/src/narrowphase/gjk_libccd.cpp
index 5f19800c28875dbea52ba1d5612e10b6d276dc4b..3afa4945497fc48221319f8789ebc74420ef7b5f 100644
--- a/src/narrowphase/gjk_libccd.cpp
+++ b/src/narrowphase/gjk_libccd.cpp
@@ -36,8 +36,8 @@
 /** \author Jia Pan */
 
 
-#include "fcl/narrowphase/gjk_libccd.h"
-#include "fcl/ccd/simplex.h"
+#include <hpp/fcl/narrowphase/gjk_libccd.h>
+#include <hpp/fcl/ccd/simplex.h>
 #include <ccd/vec3.h>
 #include <ccd/ccd.h>
 
diff --git a/src/narrowphase/narrowphase.cpp b/src/narrowphase/narrowphase.cpp
index a40799f3254475fd2d0bf42c16904b2ce64f2b8c..56c7014f7ae747ca26067a9310533f547b183da0 100644
--- a/src/narrowphase/narrowphase.cpp
+++ b/src/narrowphase/narrowphase.cpp
@@ -35,9 +35,9 @@
 
 /** \author Jia Pan */
 
-#include "fcl/narrowphase/narrowphase.h"
-#include "fcl/shape/geometric_shapes_utility.h"
-#include "fcl/intersect.h"
+#include <hpp/fcl/narrowphase/narrowphase.h>
+#include <hpp/fcl/shape/geometric_shapes_utility.h>
+#include <hpp/fcl/intersect.h>
 #include <boost/math/constants/constants.hpp>
 #include <vector>
 
diff --git a/src/profile.cpp b/src/profile.cpp
index f25a8894f4ae66486c339537eff684daed93cd18..08009faf77dc7a63c09d697ab489868f297373b3 100644
--- a/src/profile.cpp
+++ b/src/profile.cpp
@@ -36,7 +36,7 @@
 
 /** \author Ioan Sucan */
 
-#include "fcl/profile.h"
+#include <hpp/fcl/profile.h>
 
 
 fcl::tools::Profiler& fcl::tools::Profiler::Instance(void)
diff --git a/src/shape/geometric_shapes.cpp b/src/shape/geometric_shapes.cpp
index 5824f7c9eae8167d5c78c37847f5b6fa19a6aae3..fc3f056f88bcdae806366c737de5f796e8aeb2f6 100644
--- a/src/shape/geometric_shapes.cpp
+++ b/src/shape/geometric_shapes.cpp
@@ -36,8 +36,8 @@
 /** \author Jia Pan */
 
 
-#include "fcl/shape/geometric_shapes.h"
-#include "fcl/shape/geometric_shapes_utility.h"
+#include <hpp/fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/shape/geometric_shapes_utility.h>
 
 namespace fcl
 {
diff --git a/src/shape/geometric_shapes_utility.cpp b/src/shape/geometric_shapes_utility.cpp
index 4c377294558fda00eb4ff7f4f51afc24c0d108ff..efb097902801fc5c9b6832321b061401fb837100 100644
--- a/src/shape/geometric_shapes_utility.cpp
+++ b/src/shape/geometric_shapes_utility.cpp
@@ -36,8 +36,8 @@
 /** \author Jia Pan */
 
 
-#include "fcl/shape/geometric_shapes_utility.h"
-#include "fcl/BVH/BV_fitter.h"
+#include <hpp/fcl/shape/geometric_shapes_utility.h>
+#include <hpp/fcl/BVH/BV_fitter.h>
 
 namespace fcl
 {
diff --git a/src/traversal/traversal_node_base.cpp b/src/traversal/traversal_node_base.cpp
index 15f3ff0712e63f7d472839eac25d1ad8c850a5af..fcaeb16066ab9739718caaadb8cbf44218c6e88f 100644
--- a/src/traversal/traversal_node_base.cpp
+++ b/src/traversal/traversal_node_base.cpp
@@ -36,7 +36,7 @@
 /** \author Jia Pan */
 
 
-#include "fcl/traversal/traversal_node_base.h"
+#include <hpp/fcl/traversal/traversal_node_base.h>
 #include <limits>
 
 namespace fcl
diff --git a/src/traversal/traversal_node_bvhs.cpp b/src/traversal/traversal_node_bvhs.cpp
index 337f2e071ede99704f3c483aabad1e262ebe77eb..edd316d3ebdddeb46c1e7b82c5884aaa7e334c83 100644
--- a/src/traversal/traversal_node_bvhs.cpp
+++ b/src/traversal/traversal_node_bvhs.cpp
@@ -36,7 +36,7 @@
 /** \author Jia Pan */
 
 
-#include "fcl/traversal/traversal_node_bvhs.h"
+#include <hpp/fcl/traversal/traversal_node_bvhs.h>
 
 namespace fcl
 {
diff --git a/src/traversal/traversal_node_setup.cpp b/src/traversal/traversal_node_setup.cpp
index c3d3ff55bac9eea218fbd98e9e5698519d044a51..5f31d364904a1aa68b94e18262a5c9b11e275784 100644
--- a/src/traversal/traversal_node_setup.cpp
+++ b/src/traversal/traversal_node_setup.cpp
@@ -36,7 +36,7 @@
 /** \author Jia Pan */
 
 
-#include "fcl/traversal/traversal_node_setup.h"
+#include <hpp/fcl/traversal/traversal_node_setup.h>
 
 namespace fcl
 {
diff --git a/src/traversal/traversal_recurse.cpp b/src/traversal/traversal_recurse.cpp
index 4a6f055f945e930bd3f19da1a6a852b14d2a713d..fa72b3467e2affe59b30eaf0cc69953973228e81 100644
--- a/src/traversal/traversal_recurse.cpp
+++ b/src/traversal/traversal_recurse.cpp
@@ -36,7 +36,7 @@
 /** \author Jia Pan */
 
 
-#include "fcl/traversal/traversal_recurse.h"
+#include <hpp/fcl/traversal/traversal_recurse.h>
 
 namespace fcl
 {
diff --git a/test/general_test.cpp b/test/general_test.cpp
index 1b3399a00eb0dec5397fdfce4161d8ab623fd7c5..e8edfb0459f45442489d01ebc977fa99e4a031d7 100644
--- a/test/general_test.cpp
+++ b/test/general_test.cpp
@@ -1,8 +1,8 @@
-#include <fcl/shape/geometric_shapes.h>
-#include <fcl/shape/geometric_shapes_utility.h>
-#include <fcl/narrowphase/narrowphase.h>
+#include <hpp/fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/shape/geometric_shapes_utility.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
 #include <iostream>
-#include <fcl/collision.h>
+#include <hpp/fcl/collision.h>
 #include <boost/foreach.hpp>
 
 using namespace std;
diff --git a/test/libsvm_classifier.h b/test/libsvm_classifier.h
index 8faeb7a91bd249e8480b5eb28c8aabb7ff72a79a..31e81eca278bbf56abed9454e8a845411f25708b 100644
--- a/test/libsvm_classifier.h
+++ b/test/libsvm_classifier.h
@@ -1,7 +1,7 @@
 #ifndef FCL_TEST_LIBSVM_CLASSIFIER_H
 #define FCL_TEST_LIBSVM_CLASSIFIER_H
 
-#include "fcl/learning/classifier.h"
+#include <hpp/fcl/learning/classifier.h>
 #include <libsvm/svm.h>
 
 namespace fcl
diff --git a/test/test_fcl_box_box_distance.cpp b/test/test_fcl_box_box_distance.cpp
index 67bf84dcc9e06ad87a28510d3afc86b195e9f29e..5fd1bea49c6eda59ebb11040fd977af66f8c317a 100644
--- a/test/test_fcl_box_box_distance.cpp
+++ b/test/test_fcl_box_box_distance.cpp
@@ -40,11 +40,11 @@
 #include <boost/test/included/unit_test.hpp>
 
 #include <cmath>
-#include <fcl/distance.h>
-#include <fcl/math/transform.h>
-#include <fcl/collision.h>
-#include <fcl/collision_object.h>
-#include <fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/distance.h>
+#include <hpp/fcl/math/transform.h>
+#include <hpp/fcl/collision.h>
+#include <hpp/fcl/collision_object.h>
+#include <hpp/fcl/shape/geometric_shapes.h>
 
 typedef boost::shared_ptr <fcl::CollisionGeometry> CollisionGeometryPtr_t;
 
diff --git a/test/test_fcl_broadphase.cpp b/test/test_fcl_broadphase.cpp
index d94fbbf9e229b5c804a4cb5de194d05e9d83a138..6d861269b2392929da9953afe14fee0ed6786df8 100644
--- a/test/test_fcl_broadphase.cpp
+++ b/test/test_fcl_broadphase.cpp
@@ -39,10 +39,10 @@
 #define BOOST_TEST_MODULE "FCL_BROADPHASE"
 #include <boost/test/included/unit_test.hpp>
 
-#include "fcl/config.h"
-#include "fcl/broadphase/broadphase.h"
-#include "fcl/shape/geometric_shape_to_BVH_model.h"
-#include "fcl/math/transform.h"
+#include <hpp/fcl/config.h>
+#include <hpp/fcl/broadphase/broadphase.h>
+#include <hpp/fcl/shape/geometric_shape_to_BVH_model.h>
+#include <hpp/fcl/math/transform.h>
 #include "test_fcl_utility.h"
 
 #if USE_GOOGLEHASH
diff --git a/test/test_fcl_capsule_box_1.cpp b/test/test_fcl_capsule_box_1.cpp
index 154409f4fea8ce7fea858aef17dc1095c58f0e66..b849c4e8ee316c8d406572cf6ced1160f5da109c 100644
--- a/test/test_fcl_capsule_box_1.cpp
+++ b/test/test_fcl_capsule_box_1.cpp
@@ -40,11 +40,11 @@
 #include <boost/test/included/unit_test.hpp>
 
 #include <cmath>
-#include <fcl/distance.h>
-#include <fcl/math/transform.h>
-#include <fcl/collision.h>
-#include <fcl/collision_object.h>
-#include <fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/distance.h>
+#include <hpp/fcl/math/transform.h>
+#include <hpp/fcl/collision.h>
+#include <hpp/fcl/collision_object.h>
+#include <hpp/fcl/shape/geometric_shapes.h>
 
 BOOST_AUTO_TEST_CASE(distance_capsule_box)
 {
diff --git a/test/test_fcl_capsule_box_2.cpp b/test/test_fcl_capsule_box_2.cpp
index 87959192da792f01160fa2e35d15fe28cfb9a573..81e355bca76717e45eee2953be38442cc1c96b14 100644
--- a/test/test_fcl_capsule_box_2.cpp
+++ b/test/test_fcl_capsule_box_2.cpp
@@ -40,11 +40,11 @@
 #include <boost/test/included/unit_test.hpp>
 
 #include <cmath>
-#include <fcl/distance.h>
-#include <fcl/math/transform.h>
-#include <fcl/collision.h>
-#include <fcl/collision_object.h>
-#include <fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/distance.h>
+#include <hpp/fcl/math/transform.h>
+#include <hpp/fcl/collision.h>
+#include <hpp/fcl/collision_object.h>
+#include <hpp/fcl/shape/geometric_shapes.h>
 
 BOOST_AUTO_TEST_CASE(distance_capsule_box)
 {
diff --git a/test/test_fcl_capsule_capsule.cpp b/test/test_fcl_capsule_capsule.cpp
index 8de1f641ea0a45aca8d0e0f0e874663d30e8e35b..432e8ffe175518604ffff7b17952147108e5c55c 100644
--- a/test/test_fcl_capsule_capsule.cpp
+++ b/test/test_fcl_capsule_capsule.cpp
@@ -41,11 +41,11 @@
 #include <boost/test/included/unit_test.hpp>
 
 #include <cmath>
-#include <fcl/distance.h>
-#include <fcl/math/transform.h>
-#include <fcl/collision.h>
-#include <fcl/collision_object.h>
-#include <fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/distance.h>
+#include <hpp/fcl/math/transform.h>
+#include <hpp/fcl/collision.h>
+#include <hpp/fcl/collision_object.h>
+#include <hpp/fcl/shape/geometric_shapes.h>
 
 using namespace fcl;
 typedef boost::shared_ptr <CollisionGeometry> CollisionGeometryPtr_t;
diff --git a/test/test_fcl_collision.cpp b/test/test_fcl_collision.cpp
index 94ea55cde7e98563bd859d8b28f2621d7a5f4e2b..7ce96904b55f35711932d93b94f4cec7919611ad 100644
--- a/test/test_fcl_collision.cpp
+++ b/test/test_fcl_collision.cpp
@@ -38,13 +38,13 @@
 #define BOOST_TEST_MODULE "FCL_COLLISION"
 #include <boost/test/included/unit_test.hpp>
 
-#include "fcl/traversal/traversal_node_bvhs.h"
-#include "fcl/traversal/traversal_node_setup.h"
-#include "fcl/collision_node.h"
-#include "fcl/collision.h"
-#include "fcl/BV/BV.h"
-#include "fcl/shape/geometric_shapes.h"
-#include "fcl/narrowphase/narrowphase.h"
+#include <hpp/fcl/traversal/traversal_node_bvhs.h>
+#include <hpp/fcl/traversal/traversal_node_setup.h>
+#include <hpp/fcl/collision_node.h>
+#include <hpp/fcl/collision.h>
+#include <hpp/fcl/BV/BV.h>
+#include <hpp/fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
 #include "test_fcl_utility.h"
 #include "fcl_resources/config.h"
 #include <boost/filesystem.hpp>
diff --git a/test/test_fcl_distance.cpp b/test/test_fcl_distance.cpp
index d58d1d0f02c82391abd7903ddf12240338d1e861..2ca8e032f4935acf69be5087542e35638d535d22 100644
--- a/test/test_fcl_distance.cpp
+++ b/test/test_fcl_distance.cpp
@@ -38,9 +38,9 @@
 #define BOOST_TEST_MODULE "FCL_DISTANCE"
 #include <boost/test/included/unit_test.hpp>
 
-#include "fcl/traversal/traversal_node_bvhs.h"
-#include "fcl/traversal/traversal_node_setup.h"
-#include "fcl/collision_node.h"
+#include <hpp/fcl/traversal/traversal_node_bvhs.h>
+#include <hpp/fcl/traversal/traversal_node_setup.h>
+#include <hpp/fcl/collision_node.h>
 #include "test_fcl_utility.h"
 #include <boost/timer.hpp>
 #include "fcl_resources/config.h"
diff --git a/test/test_fcl_distance_lower_bound.cpp b/test/test_fcl_distance_lower_bound.cpp
index 3f6047484067b36add2133c029feabec7255ab11..54f6160dd360c2cde2c2e5aef488fdebebbd7fe0 100644
--- a/test/test_fcl_distance_lower_bound.cpp
+++ b/test/test_fcl_distance_lower_bound.cpp
@@ -36,13 +36,13 @@
 # include <boost/test/included/unit_test.hpp>
 # include <boost/filesystem.hpp>
 
-# include <fcl/fwd.hh>
-# include <fcl/data_types.h>
-# include <fcl/BV/OBBRSS.h>
-# include <fcl/BVH/BVH_model.h>
-# include <fcl/narrowphase/narrowphase.h>
-# include <fcl/collision.h>
-# include <fcl/distance.h>
+#include <hpp/fcl/fwd.hh>
+#include <hpp/fcl/data_types.h>
+#include <hpp/fcl/BV/OBBRSS.h>
+#include <hpp/fcl/BVH/BVH_model.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
+#include <hpp/fcl/collision.h>
+#include <hpp/fcl/distance.h>
 # include "test_fcl_utility.h"
 # include "fcl_resources/config.h"
 
diff --git a/test/test_fcl_frontlist.cpp b/test/test_fcl_frontlist.cpp
index 0b880c763a211b17c47a78b7e2c9eda14bf36acf..12b0ab2ab3a432369022b8ef2af6eb311bd653e6 100644
--- a/test/test_fcl_frontlist.cpp
+++ b/test/test_fcl_frontlist.cpp
@@ -39,9 +39,9 @@
 #define BOOST_TEST_MODULE "FCL_FRONT_LIST"
 #include <boost/test/included/unit_test.hpp>
 
-#include "fcl/traversal/traversal_node_bvhs.h"
-#include "fcl/traversal/traversal_node_setup.h"
-#include "fcl/collision_node.h"
+#include <hpp/fcl/traversal/traversal_node_bvhs.h>
+#include <hpp/fcl/traversal/traversal_node_setup.h>
+#include <hpp/fcl/collision_node.h>
 #include "test_fcl_utility.h"
 
 #include "fcl_resources/config.h"
diff --git a/test/test_fcl_geometric_shapes.cpp b/test/test_fcl_geometric_shapes.cpp
index 92c30dc846184c47fa9ff69a1d6b697ba7c7c332..1704c661ec87e9f0312122d76f02f2318813025b 100644
--- a/test/test_fcl_geometric_shapes.cpp
+++ b/test/test_fcl_geometric_shapes.cpp
@@ -39,10 +39,10 @@
 #define BOOST_TEST_MODULE "FCL_GEOMETRIC_SHAPES"
 #include <boost/test/included/unit_test.hpp>
 
-#include "fcl/narrowphase/narrowphase.h"
-#include "fcl/collision.h"
+#include <hpp/fcl/narrowphase/narrowphase.h>
+#include <hpp/fcl/collision.h>
 #include "test_fcl_utility.h"
-#include "fcl/ccd/motion.h"
+#include <hpp/fcl/ccd/motion.h>
 #include <iostream>
 
 using namespace fcl;
diff --git a/test/test_fcl_math.cpp b/test/test_fcl_math.cpp
index f26cfb8478cd530e2b10dd2211a903d7870702aa..e35c21d09755461ecafcb9c3f09df7d67dc8b5a9 100644
--- a/test/test_fcl_math.cpp
+++ b/test/test_fcl_math.cpp
@@ -38,12 +38,12 @@
 #include <boost/test/included/unit_test.hpp>
 
 #if FCL_HAVE_SSE
-  #include "fcl/simd/math_simd_details.h"
+#include <hpp/fcl/simd/math_simd_details.h>
 #endif
-#include "fcl/math/vec_3f.h"
-#include "fcl/math/matrix_3f.h"
-#include "fcl/broadphase/morton.h"
-#include "fcl/config.h"
+#include <hpp/fcl/math/vec_3f.h>
+#include <hpp/fcl/math/matrix_3f.h>
+#include <hpp/fcl/broadphase/morton.h>
+#include <hpp/fcl/config.h>
 
 using namespace fcl;
 
diff --git a/test/test_fcl_obb.cpp b/test/test_fcl_obb.cpp
index 42d173e8feb8c749a71a0971ea0ca56987f04b2c..47c7453ab87798cefc597137e527764a30f69b6a 100644
--- a/test/test_fcl_obb.cpp
+++ b/test/test_fcl_obb.cpp
@@ -37,7 +37,7 @@
 #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
 
 #include <boost/test/included/unit_test.hpp>
-#include <fcl/narrowphase/narrowphase.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
 
 #include "../src/BV/OBB.h"
 #include "../src/distance_func_matrix.h"
diff --git a/test/test_fcl_octomap.cpp b/test/test_fcl_octomap.cpp
index fe826b2eb615ef20984b262b2943c19047d2bf5b..1d21e103c46e4f7ed62d7b7d5f6637935246f00f 100644
--- a/test/test_fcl_octomap.cpp
+++ b/test/test_fcl_octomap.cpp
@@ -38,12 +38,12 @@
 #define BOOST_TEST_MODULE "FCL_OCTOMAP"
 #include <boost/test/included/unit_test.hpp>
 
-#include "fcl/config.h"
-#include "fcl/octree.h"
-#include "fcl/traversal/traversal_node_octree.h"
-#include "fcl/broadphase/broadphase.h"
-#include "fcl/shape/geometric_shape_to_BVH_model.h"
-#include "fcl/math/transform.h"
+#include <hpp/fcl/config.h>
+#include <hpp/fcl/octree.h>
+#include <hpp/fcl/traversal/traversal_node_octree.h>
+#include <hpp/fcl/broadphase/broadphase.h>
+#include <hpp/fcl/shape/geometric_shape_to_BVH_model.h>
+#include <hpp/fcl/math/transform.h>
 #include "test_fcl_utility.h"
 #include "fcl_resources/config.h"
 #include <boost/filesystem.hpp>
diff --git a/test/test_fcl_shape_mesh_consistency.cpp b/test/test_fcl_shape_mesh_consistency.cpp
index 1cf09511671702e1127360f30b8017a20113e549..c82d6143b27d7df49c01e457e5da362bc851a463 100644
--- a/test/test_fcl_shape_mesh_consistency.cpp
+++ b/test/test_fcl_shape_mesh_consistency.cpp
@@ -38,10 +38,10 @@
 #define BOOST_TEST_MODULE "FCL_SHAPE_MESH_CONSISTENCY"
 #include <boost/test/included/unit_test.hpp>
 
-#include "fcl/narrowphase/narrowphase.h"
-#include "fcl/shape/geometric_shape_to_BVH_model.h"
-#include "fcl/distance.h"
-#include "fcl/collision.h"
+#include <hpp/fcl/narrowphase/narrowphase.h>
+#include <hpp/fcl/shape/geometric_shape_to_BVH_model.h>
+#include <hpp/fcl/distance.h>
+#include <hpp/fcl/collision.h>
 #include "test_fcl_utility.h"
 
 
diff --git a/test/test_fcl_simple.cpp b/test/test_fcl_simple.cpp
index 45dc3493c839516bcd8ad84bad14e89c13412c97..e3e57d4fb16bfe9b557f8d7006b28d91695f2da1 100644
--- a/test/test_fcl_simple.cpp
+++ b/test/test_fcl_simple.cpp
@@ -1,15 +1,15 @@
 #define BOOST_TEST_MODULE "FCL_SIMPLE"
 #include <boost/test/included/unit_test.hpp>
 
-#include "fcl/intersect.h"
-#include "fcl/collision.h"
-#include "fcl/BVH/BVH_model.h"
+#include <hpp/fcl/intersect.h>
+#include <hpp/fcl/collision.h>
+#include <hpp/fcl/BVH/BVH_model.h>
 #include "fcl_resources/config.h"
 #include <boost/filesystem.hpp>
 #include <sstream>
-#include "fcl/math/vec_nf.h"
-#include "fcl/math/sampling.h"
-#include "fcl/knn/nearest_neighbors_GNAT.h"
+#include <hpp/fcl/math/vec_nf.h>
+#include <hpp/fcl/math/sampling.h>
+#include <hpp/fcl/knn/nearest_neighbors_GNAT.h>
 
 #include <boost/assign/list_of.hpp>
 
diff --git a/test/test_fcl_sphere_capsule.cpp b/test/test_fcl_sphere_capsule.cpp
index 4c040c5d42eb5c70ebafbfa58c168c9b3ce4cc50..4e0763aafff2b247e3635b5263c617b16f995b51 100644
--- a/test/test_fcl_sphere_capsule.cpp
+++ b/test/test_fcl_sphere_capsule.cpp
@@ -38,9 +38,9 @@
 #define BOOST_TEST_MODULE "FCL_SPHERE_CAPSULE"
 #include <boost/test/included/unit_test.hpp>
 
-#include "fcl/collision.h"
-#include "fcl/shape/geometric_shapes.h"
-#include "fcl/narrowphase/narrowphase.h"
+#include <hpp/fcl/collision.h>
+#include <hpp/fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
 
 #ifndef M_PI
 #define M_PI 3.14159265358979323846
diff --git a/test/test_fcl_utility.cpp b/test/test_fcl_utility.cpp
index 76f8e952f29abf4c6538fbbf500c50b27afb458c..7f7f172327ae66c6f0690facb36e3532e1895ecd 100644
--- a/test/test_fcl_utility.cpp
+++ b/test/test_fcl_utility.cpp
@@ -1,7 +1,7 @@
 #include "test_fcl_utility.h"
-#include "fcl/collision.h"
-#include "fcl/continuous_collision.h"
-#include "fcl/distance.h"
+#include <hpp/fcl/collision.h>
+#include <hpp/fcl/continuous_collision.h>
+#include <hpp/fcl/distance.h>
 #include <cstdio>
 #include <cstddef>
 #include <fstream>
diff --git a/test/test_fcl_utility.h b/test/test_fcl_utility.h
index 6d04a91a329e73c0cabfffdebd042d88c27eeb59..65fd59ad19b63b3566e4aa9e73411e9a8a29e47b 100644
--- a/test/test_fcl_utility.h
+++ b/test/test_fcl_utility.h
@@ -38,9 +38,9 @@
 #ifndef TEST_FCL_UTILITY_H
 #define TEST_FCL_UTILITY_H
 
-#include "fcl/math/transform.h"
-#include "fcl/collision_data.h"
-#include "fcl/collision_object.h"
+#include <hpp/fcl/math/transform.h>
+#include <hpp/fcl/collision_data.h>
+#include <hpp/fcl/collision_object.h>
 
 #ifdef _WIN32
 #define NOMINMAX  // required to avoid compilation errors with Visual Studio 2010