diff -up ./CMakeLists.txt.fedora ./CMakeLists.txt
--- ./CMakeLists.txt.fedora	2013-01-04 15:27:27.000000000 -0500
+++ ./CMakeLists.txt	2013-04-28 15:36:30.142515962 -0400
@@ -27,6 +27,8 @@ set(OMPL_DEMO_INSTALL_DIR "share/ompl${O
     CACHE STRING "Relative path to directory where demos will be installed")
 set(OMPL_DOC_INSTALL_DIR "share/ompl${OMPL_INSTALL_SUFFIX}/doc"
     CACHE STRING "Relative path to directory where documentation will be installed")
+set(OMPL_LIB_INSTALL_DIR "lib" 
+    CACHE STRING "Relative path to directory where libraries will be installed")
 
 include_directories("${OMPL_INCLUDE_DIR}")
 
@@ -90,7 +92,7 @@ if (NOT MSVC)
   set(PKG_OMPL_LIBS "-lompl")
   set(pkg_conf_file "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/ompl.pc")
   configure_file("${pkg_conf_file}.in" "${pkg_conf_file}" @ONLY)
-  install(FILES ${pkg_conf_file} DESTINATION lib/pkgconfig/
+  install(FILES ${pkg_conf_file} DESTINATION ${OMPL_LIB_INSTALL_DIR}/pkgconfig/
     COMPONENT pkgconfig RENAME "ompl${OMPL_INSTALL_SUFFIX}.pc")
 
   install(FILES "${CMAKE_CURRENT_SOURCE_DIR}/doc/dox/FindOMPL.cmake"
diff -up ./src/CMakeLists.txt.fedora ./src/CMakeLists.txt
--- ./src/CMakeLists.txt.fedora	2012-12-24 22:31:08.000000000 -0500
+++ ./src/CMakeLists.txt	2013-05-01 18:46:03.022924794 -0400
@@ -8,7 +8,7 @@ install(DIRECTORY ompl/ DESTINATION "inc
     REGEX "/doc$" EXCLUDE
     REGEX "/tests$" EXCLUDE)
 
-install(DIRECTORY external/omplext_odeint/ DESTINATION "include/omplext_odeint${OMPL_INSTALL_SUFFIX}")
+#install(DIRECTORY external/omplext_odeint/ DESTINATION "include/ompl/omplext_odeint${OMPL_INSTALL_SUFFIX}")
 
 # Add target to install Py++ and its dependencies pygccxml and gccxml
 if (APPLE)
diff -up ./src/ompl/CMakeLists.txt.fedora ./src/ompl/CMakeLists.txt
--- ./src/ompl/CMakeLists.txt.fedora	2013-01-15 15:57:56.000000000 -0500
+++ ./src/ompl/CMakeLists.txt	2013-04-28 15:36:30.142515962 -0400
@@ -68,7 +68,7 @@ else(MSVC)
 endif(MSVC)
 
 # install the library
-install(TARGETS ompl DESTINATION lib/)
+install(TARGETS ompl DESTINATION ${OMPL_LIB_INSTALL_DIR})
 if(NOT MSVC)
     get_target_property(OMPL_LIBRARY_LOC ompl LOCATION)
     add_custom_command(TARGET ompl POST_BUILD
diff -up ./src/ompl/control/ODESolver.h.fedora ./src/ompl/control/ODESolver.h
--- ./src/ompl/control/ODESolver.h.fedora	2013-05-01 18:46:48.511731462 -0400
+++ ./src/ompl/control/ODESolver.h	2013-05-01 18:47:41.385832376 -0400
@@ -49,7 +49,7 @@
 #include "ompl/util/Console.h"
 #include "ompl/util/ClassForward.h"
 
-#include <omplext_odeint/boost/numeric/odeint.hpp>
+#include <boost/numeric/odeint.hpp>
 #include <boost/function.hpp>
 #include <cassert>
 #include <vector>
@@ -193,7 +193,7 @@ namespace ompl
         /// Solver is the numerical integration method used to solve the equations.  The default
         /// is a fourth order Runge-Kutta method.  This class wraps around the simple stepper
         /// concept from boost::numeric::odeint.
-        template <class Solver = boost::numeric::omplext_odeint::runge_kutta4<ODESolver::StateType> >
+        template <class Solver = boost::numeric::odeint::runge_kutta4<ODESolver::StateType> >
         class ODEBasicSolver : public ODESolver
         {
         public:
@@ -211,7 +211,7 @@ namespace ompl
             {
                 Solver solver;
                 ODESolver::ODEFunctor odefunc (ode_, control);
-                boost::numeric::omplext_odeint::integrate_const (solver, odefunc, state, 0.0, duration, intStep_);
+                boost::numeric::odeint::integrate_const (solver, odefunc, state, 0.0, duration, intStep_);
             }
         };
 
@@ -221,7 +221,7 @@ namespace ompl
         /// Solver is the numerical integration method used to solve the equations.  The default
         /// is a fifth order Runge-Kutta Cash-Karp method with a fourth order error bound.
         /// This class wraps around the error stepper concept from boost::numeric::odeint.
-        template <class Solver = boost::numeric::omplext_odeint::runge_kutta_cash_karp54<ODESolver::StateType> >
+        template <class Solver = boost::numeric::odeint::runge_kutta_cash_karp54<ODESolver::StateType> >
         class ODEErrorSolver : public ODESolver
         {
         public:
@@ -268,7 +268,7 @@ namespace ompl
         /// Solver is the numerical integration method used to solve the equations, and must implement
         /// the error stepper concept from boost::numeric::odeint.  The default
         /// is a fifth order Runge-Kutta Cash-Karp method with a fourth order error bound.
-        template <class Solver = boost::numeric::omplext_odeint::runge_kutta_cash_karp54<ODESolver::StateType> >
+        template <class Solver = boost::numeric::odeint::runge_kutta_cash_karp54<ODESolver::StateType> >
         class ODEAdaptiveSolver : public ODESolver
         {
         public:
@@ -312,8 +312,8 @@ namespace ompl
             {
                 ODESolver::ODEFunctor odefunc (ode_, control);
 
-                boost::numeric::omplext_odeint::controlled_runge_kutta< Solver > solver (boost::numeric::omplext_odeint::default_error_checker<double>(maxError_, maxEpsilonError_));
-                boost::numeric::omplext_odeint::integrate_adaptive (solver, odefunc, state, 0.0, duration, intStep_);
+                boost::numeric::odeint::controlled_runge_kutta< Solver > solver (boost::numeric::odeint::default_error_checker<double>(maxError_, maxEpsilonError_));
+                boost::numeric::odeint::integrate_adaptive (solver, odefunc, state, 0.0, duration, intStep_);
             }
 
             /// \brief The maximum error allowed when performing numerical integration