Update 10.03.2011, 2 years later on a new Macbook: brew install rtorrent on Mac OS X (Snow Leopard 10.6.6) also falls for this error. The habit of writing work logs saves me a lot of time again 
I always fall for this error when compile rtorrent, so … :
Error:
checking for STUFF... configure: error: Package requirements (sigc++-2.0) were not met:
No package 'sigc++-2.0' found
Consider adjusting the PKG_CONFIG_PATH environment variable if you
installed software in a non-standard prefix.
Alternatively, you may set the environment variables STUFF_CFLAGS
and STUFF_LIBS to avoid the need to call pkg-config.
See the pkg-config man page for more details.
Fix:
$ updatedb
$ locate pkgconfig | grep sigc++-2.0.pc
You will see something like /usr/lib/pkgconfig/sigc++-2.0.pc. If it is not there, then go install libsigc++ (it’s not in official CentOS repo).
Then define the PKG_CONFIG_PATH variable as the configure script suggests:
$ export PKG_CONFIG_PATH=/usr/lib/pkgconfig/
Run configure script for libtorrent again. --prefix= should be the same for libsigc++, libtorrent and rtorrent, otherwise they will complain 
./configure --prefix=/usr && make
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