diff --git a/CMakeLists.txt b/CMakeLists.txt
index 68d7c237f0a8266ae683d431fd9ce92b2812edaf..c375ec6eb86a0490816ccd5d2684a8371ff74be4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -447,72 +447,79 @@ INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib)
 
+
+# Configure the package installation
+# plugin_core is not really needed, why was it used in the first place?
+# set(INCLUDE_INSTALL_DIR include/iri-algorithms/wolf/plugin_core)
+set(INCLUDE_INSTALL_DIR include/iri-algorithms/wolf)
+set(LIB_INSTALL_DIR lib/)
+
+configure_package_config_file(
+  ${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}Config.cmake
+  INSTALL_DESTINATION ${LIB_INSTALL_DIR}/${PLUGIN_NAME}/cmake
+  PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
+)
+
+install(
+  FILES 
+  ${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}Config.cmake
+  DESTINATION 
+  ${LIB_INSTALL_DIR}/${PLUGIN_NAME}/cmake
+)
+
+
 install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
 #install headers
 INSTALL(FILES ${HDRS_CAPTURE}
-   DESTINATION include/iri-algorithms/wolf/plugin_core/core/capture)
+   DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/capture)
 INSTALL(FILES ${HDRS_CERES_WRAPPER}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/ceres_wrapper)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/ceres_wrapper)
 INSTALL(FILES ${HDRS_COMMON}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/common)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/common)
 INSTALL(FILES ${HDRS_FACTOR}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/factor)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/factor)
 INSTALL(FILES ${HDRS_FEATURE}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/feature)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/feature)
 INSTALL(FILES ${HDRS_FRAME}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/frame)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/frame)
 INSTALL(FILES ${HDRS_HARDWARE}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/hardware)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/hardware)
 INSTALL(FILES ${HDRS_LANDMARK}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/landmark)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/landmark)
 INSTALL(FILES ${HDRS_MAP}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/map)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/map)
 INSTALL(FILES ${HDRS_MATH}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/math)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/math)
 INSTALL(FILES ${HDRS_PROBLEM}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/problem)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/problem)
 INSTALL(FILES ${HDRS_PROCESSOR}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/processor)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/processor)
 INSTALL(FILES ${HDRS_SENSOR}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/sensor)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/sensor)
 INSTALL(FILES ${HDRS_SOLVER}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/solver)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/solver)
 #INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
-#  DESTINATION include/iri-algorithms/wolf/plugin_core/core/solver_suitesparse)
+#  DESTINATION ${INCLUDE_INSTALL_DIR}/core/solver_suitesparse)
 INSTALL(FILES ${HDRS_STATE_BLOCK}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/state_block)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/state_block)
 INSTALL(FILES ${HDRS_TRAJECTORY}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/trajectory)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/trajectory)
 INSTALL(FILES ${HDRS_TREE_MANAGER}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/tree_manager)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/tree_manager)
 INSTALL(FILES ${HDRS_UTILS}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/utils)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/utils)
 INSTALL(FILES ${HDRS_YAML}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/yaml)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/yaml)
 
 FILE(WRITE ${PLUGIN_NAME}.found "")
 INSTALL(FILES ${PLUGIN_NAME}.found
-  DESTINATION include/iri-algorithms/wolf/plugin_core)
+  DESTINATION ${INCLUDE_INSTALL_DIR})
 INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
-  DESTINATION include/iri-algorithms/wolf/plugin_core/core/internal)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/internal)
 
 
-# Configure the package installation
-set(INCLUDE_INSTALL_DIR include/)
-set(LIB_INSTALL_DIR lib/)
 
-configure_package_config_file(
-  ${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake.in
-  ${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}Config.cmake
-  INSTALL_DESTINATION ${LIB_INSTALL_DIR}/${PLUGIN_NAME}/cmake
-  PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
-)
-
-install(
-  FILES 
-  ${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}Config.cmake
-  DESTINATION 
-  ${LIB_INSTALL_DIR}/${PLUGIN_NAME}/cmake)
 
 # configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake"
 #                "${CMAKE_BINARY_DIR}/${PLUGIN_NAME}Config.cmake" @ONLY)