The header file lives at /usr/include/SDL/SDL.h (SDL1) or /usr/include/SDL2/SDL.h (SDL2).
In your C++ code, pull in this header using
#include <SDL.h> // for SDL1
#include <SDL2/SDL.h> // for SDL2
You have the correct usage of
sdl-config --cflags --libs # sdl1
sdl2-config --cflags --libs # sdl2
which will give you
# SDL1 -I/usr/include/SDL -D_GNU_SOURCE=1 -D_REENTRANT -L/usr/lib/x86_64-linux-gnu -lSDL
or
# SDL2 -I/usr/include/SDL2 -D_REENTRANT -lSDL2
At times you may also see this usage which works for a standard install:
pkg-config --cflags --libs sdl # sdl1
pkg-config --cflags --libs sdl2 # sdl2
which supplies you with
-D_GNU_SOURCE=1 -D_REENTRANT -I/usr/include/SDL -lSDL # SDL1
or
-D_REENTRANT -I/usr/include/SDL2 -lSDL2 # SDL2
sdl-config --cflags --libsand (b) the actual literal full path toSDL.h.