diff --git a/trunk/collision_space_fcl/src/environmentFCL.cpp b/trunk/collision_space_fcl/src/environmentFCL.cpp
index 14453697b05a2d584c1d1e907b151e76aca4f153..e6a8753e121e8dcb12edb1392d5b70a1a519f1a0 100644
--- a/trunk/collision_space_fcl/src/environmentFCL.cpp
+++ b/trunk/collision_space_fcl/src/environmentFCL.cpp
@@ -266,7 +266,7 @@ fcl::CollisionObject* EnvironmentModelFCL::createGeom(const shapes::Shape *shape
       ROS_FATAL_STREAM("This shape type is not supported using FCL yet");
   }
 
-  fcl::CollisionObject* co = new fcl::CollisionObject(g);
+  fcl::CollisionObject* co = new fcl::CollisionObject(boost::shared_ptr<fcl::CollisionGeometry>(g));
   return co;
 }
 
diff --git a/trunk/fcl/include/fcl/collision_object.h b/trunk/fcl/include/fcl/collision_object.h
index e8a6ee9b8a52ea904d1022ca8e58b753c7cf8929..bb9da734ce11b3ed224fe98713aab7f636b082bc 100644
--- a/trunk/fcl/include/fcl/collision_object.h
+++ b/trunk/fcl/include/fcl/collision_object.h
@@ -86,15 +86,18 @@ class CollisionObject
 public:
   CollisionObject(const boost::shared_ptr<CollisionGeometry> &cgeom_) : cgeom(cgeom_)
   {
+    computeAABB();
   }
 
   CollisionObject(const boost::shared_ptr<CollisionGeometry> &cgeom_, const SimpleTransform& tf) : cgeom(cgeom_), t(tf)
   {
+    computeAABB();
   }
 
   CollisionObject(const boost::shared_ptr<CollisionGeometry> &cgeom_, const Matrix3f& R, const Vec3f& T):
       cgeom(cgeom_), t(SimpleTransform(R, T))
   {
+    computeAABB();
   }
 
   CollisionObject()