diff --git a/orocos_kdl/src/CMakeLists.txt b/orocos_kdl/src/CMakeLists.txt
index 079ca8a..07eff4f 100644
--- a/orocos_kdl/src/CMakeLists.txt
+++ b/orocos_kdl/src/CMakeLists.txt
@@ -126,7 +126,7 @@ ENDIF()
 #####end RPATH
 
 # Needed so that the generated config.h can be used
-INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR})
+TARGET_INCLUDE_DIRECTORIES(orocos-kdl PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}> $<INSTALL_INTERFACE:include>)
 TARGET_LINK_LIBRARIES(orocos-kdl ${Boost_LIBRARIES})
 
 INSTALL(TARGETS orocos-kdl